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Simply go to the 'Plugins' page, search Lutron and install the @homebridge-plugins/homebridge-lutron plugin.
Manually
This will only work if you are using a platform which installs plugins globally.
sudo npm i -g @homebridge-plugins/homebridge-lutron
2. Configure
If you use the Homebridge UI then a configuration screen will appear after installing the plugin where you can pair with your Lutron Smart Bridge by pressing its physical pairing button when prompted - no credentials are typed in.
See the Configuration page for JSON configuration templates and other optional settings if editing the configuration manually.
3. Restart
And voila, your Lutron Caséta devices should be added to your Homebridge instance.