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At the Healthcare Robotics Lab at Georgia Tech we are using phantom omni haptic devices (cost around $1000) to control the PR2 arms. We have a phantom omni driver with ROS wrappings in c++ and an example of how to interact with it from python. You can find the two packages (phantom_omni and pr2_omni_teleop) at our gt-ros-pkg repository. Documentation on requirements and installation is at

In terms of our experience, overall we've been happy. The workspace of the omni is at times limiting (especially in orientation of the stylus), but a remapping of the coordinate frames to a more suitable workspace might help if this is a problem for your application. Also, the max force the omni can apply is low (on par with the Novint Falcon), but that's to be expected for a low impedance device. Good luck.