Hi Jay,
Also, as you already linked to, Mothur will be able to generate BIOM files that contain GG OTU ids so that PICRUSt can use this as input. This will be available in Mothur v1.33, which I don't believe has been released yet, but the documentation illustrates how this would be done (see picrust sub heading on this page):
http://www.mothur.org/wiki/Make.biom
I believe the best solution is to wait until the version of Mothur is released.
However, I should mention that PICRUSt was designed to be able to handle other types of marker gene trees (e.g. SILVA, or even a non-16S tree). This would require having a mapping from tips in the new tree that match sequenced genomes (we currently use IMG genome ids). Then precalculated internal PICRUSt files could be constructed for just your user table (fast) or all tips in the tree (slow, but usable by other OTU tables). This tutorial outlines the commands in PICRUSt to do this:
http://picrust.github.io/picrust/tutorials/genome_prediction.html#genome-prediction-tutorial
Good luck, and if you are successful in getting PICRUSt predictions from Mothur OTU tables, please let us know so we can document it on the PICRUSt web page.