OpenVR controller can pick/drag objects. Instructions, Windows only:

Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.

data/kuka_iiwa/model.urdf

@@ -77,7 +77,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_0.stl"/>
+        <mesh filename="meshes/link_0.stl"/>
       </geometry>
     </collision>
   </link>
@@ -106,7 +106,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_1.stl"/>
+        <mesh filename="meshes/link_1.stl"/>
       </geometry>
     </collision>
   </link>
@@ -135,7 +135,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_2.stl"/>
+        <mesh filename="meshes/link_2.stl"/>
       </geometry>
     </collision>
   </link>
@@ -164,7 +164,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_3.stl"/>
+        <mesh filename="meshes/link_3.stl"/>
       </geometry>
     </collision>
   </link>
@@ -193,7 +193,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_4.stl"/>
+        <mesh filename="meshes/link_4.stl"/>
       </geometry>
     </collision>
   </link>
@@ -222,7 +222,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_5.stl"/>
+        <mesh filename="meshes/link_5.stl"/>
       </geometry>
     </collision>
   </link>
@@ -251,7 +251,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_6.stl"/>
+        <mesh filename="meshes/link_6.stl"/>
       </geometry>
     </collision>
   </link>
@@ -280,7 +280,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_7.stl"/>
+        <mesh filename="meshes/link_7.stl"/>
       </geometry>
     </collision>
   </link>