First of all having windows computers in a workgroup gives them no rights.
-A workgroup is just a selection of computers made by you or someone else which are able to see each other in windows nifty network neighbourcrap.
-A domain is a group of computers selected by the administrator and has global rights / groups etc.
anyway, knowing that.. you should be able to type the following command on your linux box to view the contents of one of the windows XP machines:
smbclient -L //computername/
(smb is samba, which is the netbios share implementation for Linux if you want to know more about this have a look on
www.samba.org)