Installing Guided Policy Search on Baxter

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I am attempting to use Guided Policy Search on Baxter. I have the PR2 gps_agent plugin working and controlling the PR2 simulator, but I am unclear how to run GPS on Baxter. I imagine it should be a somewhat straightforward mapping considering both Baxter and the PR2 have 7 DOF arms.

However, I do not understand all that I would have to plug together. My question is two-fold:

1. What are some of the critical implementation differences between Baxter and PR2?
2. Any ideas how to create a Baxter plugin in GPS? Copy PR2 and start modifying?

Thanks!