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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 http://www.ros.org/wiki/gt-ros-pkg.

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.

marc