the model of the Baxter robot we will release on bitbucket shortly will have joint controllers accessible via ROS messages, as well as camera sensors that you can use to run your experiments. Regarding a simulation environment you could either use one of our provided environments, I think one of the virtual rooms would fit best here, or just design your own. Using our environment designer tool you can set up your own room and place objects as desired. The tools are provided online and locally. However if you use the local install you will have more freedom for customizing your experiments. In particular if you are already using gazebo for your simulations you could reuse your environment, objects and robot adaptation directly in our platform. In this terms it depends on your creativity to design an simulation environment the baxter robot can act in most properly.
Best Regards, Benedikt