You can reset hue bulbs into zigbee pairing mode. I don't know about the repeated on-off cycle method, but a hue dimmer remote will also do it.
I was going to suggest using this package a friend built (a long time ago) but looking at it, it does seem to expect there to a hub, and it probably expects the lights to be associated to that hub
It's not really impossible, just a big pain in the butt. You should be able to connect using the SN.
Yeah, I had to do something similar for this. It requires the switch on/off dance, then extremely close proximity.
I have some bulbs on an 6 meter ceiling. I would get pissed if I have to re-pair those with the hub.
I believe the standard approach is a smartphone duct-taped to a hockey stick.
(not defending it, but holy crap some of this tech wasn't well thought through)
You should be able to turn them off and on 6 times to force them into re-pair mode. I'm not sure if it's part of the Zigbee standard, but every Zigbee light I've had has worked like this.
In fact you can ditch the hub completely and just talk to all your bulbs and other Hue devices with a $10 ZigBee USB adapter. There are loads of python scripts online to provide all functionality the bulbs normally have, and more.
You can reset them with the Hue Bluetooth app, and the dimmer switch. I have done this many times successfully. I think it is a great product.