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Followup for those interested: turns out this wasn't nearly as difficult as I'd anticipated. Once the robot is working in MoveIt, just replace the line

roslaunch pr2_moveit_config demo.launch

in the tutorial with the corresponding command to launch the move_group node for your robot. Everything else just works - you should be able to query the robot's joint states and plan/execute motions.

Not sure what higher level planning/control functionality might need to be changed or reimplemented to make other tutorials work with a new robot, but the basics work with only the above.