Hi @patracy ,
If the baxter is anyway similar to the “spin off” sawyer, your best bet is to use the arms with the torso controller and use ROS1 (with bridges maybe) to control them. As far as I know, the arms have custom developed motor controller boards, which also need a special communication protocol. Even if you get you hands on the sources, which will be quite difficult, getting it to run will take you way longer than an afternoon.