Custom made gripper control

[nemanja-rakicevic]

I am writing to ask whether it is possible to obtain the complete hardware documentation, especially related to baxter's grippers.
We are making our custom three-finger grippers to replace the default ones. The plan is to use the already existing infrastructure to send commands & receive joint states. However, since we plan to install force sensors on the fingers as well, we would need to have more informative documentation about the the cabling and communication protocols so we could take advantage of this.

Any help would be greatly appreciated!