FYI, I finally got into this whole vibe coding thing and put together this HACS integration to get my R2D2 working simply with nothing other than HA and a Bluetooth adapter/proxy: GitHub - FutureGUIs/sphero_r2d2_ble · GitHub Of course utilizing @h311m4n repo for inspiration. It has robot auto-discovery and simple commands and services to set the leg mode and run animations.