Mix together the cumin, ancho, salt and pepper in a small bowl.
Heat grill to medium. Rub each rack with a few tablespoons of the spice mixture. Drizzle with oil and grill until golden brown and a crust as formed, about 10 minutes. Remove the ribs to a platter. Using side towels, lift the grate off the grill and place the roasting pan with the Steaming Liquid mixture on top of the coals or heat source. Return the grate to the grill.
Return the ribs to the grill, rub side up, brush with some of the Guava Glaze, close the lid and continue grilling the pork, brushing with the guava glaze every 10 minutes until tender, about 1 1/2 hours. (If the steaming liquid evaporates before ribs are tender, add more soy and water to the pan) Remove ribs from the grill to a cutting board, brush with more of the glaze and let rest for 10 minutes. Cut the ribs, place on a platter and drizzle with the Orange-Habanero Mojo.
Combine all ingredients in a heavy duty roasting pan.
Whisk the guava jelly, Dijon mustard and orange juice together in a medium bowl and season with salt and pepper, to taste.
Heat oil in a pan on the side burner of the grill or on the grates. Add onion and garlic and cook until soft. Stir in lime juice, orange juice, zests and habanero, and bring to a boil. Cook until reduced by half, remove habanero and season with salt and pepper. Stir in the cilantro and cumin.