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/SharedMemoryCommands.h

@@ -215,6 +215,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_GRAVITY=2,
 	SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,	
 	SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
+	SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
 };
 
 ///Controlling a robot involves sending the desired state to its joint motor controllers.
@@ -225,6 +226,7 @@ struct SendPhysicsSimulationParameters
 	double m_gravityAcceleration[3];
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
+	bool m_allowRealTimeSimulation;
 };
 
 struct RequestActualStateArgs