Hacra Dhani - the desert village homestay run by the inimitable Gemar Singh, was definitely one of the more memorable experiences we had on our trip.
Gemar Singh-ji provides a thrilling escape from the banalities and tensions of modern life. He is a Jodhpur-educated entrepreneur who has chosen to make a living via tourism based on his native village and thus serves as a great guide for urbanites who want to experience and understand rural life in India. This means no electricity (save for the solar-powered batteries for Gemar Singh's computer) or running water, and absolutely no distractions! :)
Set ~15 km from Osian or ~65km from Jodhpur, he will provide for transport (via camel, camel-cart or jeep as per preference) to his homestay across peacock-filled Thar desert landscape and offers great perspective and views on the local traditions and practices, as well as on the state of rural development in India.
For more information, see http://www.hacra.org or reviews of Hacra/Gemar Singh on Trip Advisor