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.

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -53,7 +53,8 @@ public:
 	
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
-    void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
+	void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
+	void stepSimulationRealTime(double dtInSec);
 	void applyJointDamping(int bodyUniqueId);
 };