Using multiple haptic devices
Except for example 02-multi-devices, all examples have been programmed to run with one haptic device.
You can very easily extend any of these examples by creating a second instance of the haptic tool and by assigning it a second haptic device. Note that you will also have to update the haptics thread to request interaction forces to be computed for the second device.
For more information, please check example modules/ODE/06-ODE-exploration which support either 1 or 2 devices.