dorianborian/sesame-robot-micro — reverse-engineered prompt

Build me a small experimental Sesame style robot project. I want Arduino firmware for a main controller that drives multiple servos for walking and poses, shows simple animated faces on a tiny OLED, and listens for plain text commands over USB serial and a serial pin. It should understand movement commands like forward, backward, left, right, and stop, plus fun actions like rest, stand, wave, dance, bow, cute, dead, crab, and a few tuning commands for speed, cycles, delays, and servo trims.

Also make a separate sketch for a Seeed XIAO ESP32 C6 that creates a WiFi access point called Sesame and opens a simple captive portal web controller. The web page should have buttons for movement, poses, and basic settings, then send those commands over UART to the main board. Keep it practical for hacking, not polished. Add clear comments and basic flash instructions so I can open the sketches in Arduino IDE. Look up current docs online if needed.