The $510 is about right for the 3 kits needed for R56 lights. $270 is the going rate here in the Carolinas (read Hendricks).
The install isn't a major deal (did my own) and no programming required as signals are obtained from the wiring harness in the left footwell. This is also true of the R53 (we have one of each) which I modified to use the running lights to provide the signal to arm the driving lights.
The only challenging part (at least for the dealer) is getting the correct grill/bracket kit based on nonS/S, JCW Aero or not, and Hyper Sport or not. What sucks is that to get the light brackets a grill kit has to be purchased for ~$120. The original grill can be modified easily which is all MINI does at the factory. The brackets cannot be purchased separately.