Modify VR gripper to be just a pole

[richardrl]

Hi,
Currently, for the VR gripper example, the VR gripper is a pole and two fingers.

I would like to remove the fingers.

The behavior I would like is, I touch an object with the tip of the pole, and the object and pole now have a pose equality constraint, so they move in tandem. This will let me do more precise manipulation with the VR controller, because I noticed the physics of the gear joint and fingers are not that great.

I imagine I would have to rewrite the vrSyncPlugin a bit. Can someone point me towards a few relevant code sections or files that will help me understand how the C++ code interfaces into pyBullet via plugins, so I can accomplish what I want?