Oy. Lots of stuff happens when I finally look away.
You uncomment the arbotix2 settings in the boards.txt file by removing the '#' sign from the start of each arbotix2.* line. Restarting the IDE after updating the boards.txt file should then make the Arbotix2 show up in the boards list. There are some differences in settings and definitions between the Arbotix/Arbotix-M with RX-bridge and the Arbotix2, so probably best not to try using anything else.
How far is the pose from what she should be doing? Is it horrible contortions or is it just not-quite-right?
Just realized how messed up my flashing LED code usage was since it was called every run of loop() instead of only when the mode changed. I suspect my rearrangement of the sensor printing is interfering a bit with the commander's serial port. I finally forked the arbotix repo, and reorganized it a bit to make installing on Arduino-1.5 easier (just copy-merge the hardware folder into your sketchbook's hardware folder then uncomment the arbotix2 options in boards.txt). Added another updated version of 'hikarikey' to the repo since it is easier/cleaner than the code tags and I will probably be messing things up worse before any of it gets better (also a couple small changes to ax12 and bioloidcontroller libraries).