Well, I ended up figuraing out how to do this, here's the code for posterity:
Using java Syntax Highlighting
Intent mainIntent = new Intent(Intent.MAIN_ACTION, null);
mainIntent.addCategory(Intent.LAUNCHER_CATEGORY);
List<ResolveInfo> apps = ZoomGrid.context.getPackageManager().queryIntentActivities(mainIntent, 0);
Resources r = ZoomGrid.pm.getResourcesForApplication(apps.get(1).activityInfo.applicationInfo);
Parsed in 0.030 seconds, using
GeSHi 1.0.8.4
change the 1 in apps.get(1) to a different number to change the app. Then use the properties of the r (Resources) object to get the resource by id.