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/Utils/b3ResourcePath.cpp

@@ -33,8 +33,10 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
 #else
 #ifdef _WIN32
 	//https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx
+
 	HMODULE hModule = GetModuleHandle(NULL);
-	numBytes = GetModuleFileName(hModule, path, maxPathLenInBytes);
+	numBytes = GetModuleFileNameA(hModule, path, maxPathLenInBytes);
+
 #else
 	///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c
 	numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);