Just want get back and let you guy know. Pico remote is supported in radiora2 via pylutron in the core integration. The official website description just didn’t mention it which it should btw as pico devices is a must get for radiora2 or any lutron hub. Once pico is activate in lutron. HA will port each of the pico’s button as an scene. Monitor those scene via automation with event trigger (lutron_event) or node red (event node).
Note when activating the pico on main repeater just complete the device activation with no action. (i.e don’t tie into any actual Lutron device this way you can use it as you wish in HA). HA will than port each button over as a scene even when is blank.
node red ex.
Hint: The name of the scene ported over to HA is also the “id” for each individual button. i.e scene with name “Pico Remote Family: button 4”. The id for that button to monitor is pico_remote_family_button_4