The utility pskctool can now parse the PSKC examples from figure 2, 3, 4, 5 and 10 in RFC 6030. This is with git checkout efb0102c15b1f3a0baab23af7bbae22e17877064. There is still some mileage to go, but I think we'll have a OATH Toolkit with PSKC support released within a few weeks.
I'm now collecting PSKC samples that I can include for self-testing purposes. If anyone is sitting on PSKC files, please send them to me! /Simon
