thinking0things/AlbertPro ? reverse-engineered prompt

Build me this small quadruped robot project end to end. I want a 14 cm four legged robot that can learn to walk in simulation, then run the same walking policy on an ESP32 to control 8 servos through a PCA9685 board.

Please set up the MuJoCo training side so I can train a PPO policy in notebooks, visualize the gait, save checkpoints, and export the trained policy into a simple header file I can use on the robot. Then make the ESP32 side able to read that exported policy or a baked gait trajectory and drive the legs at 100 Hz. I also want a simple Bluetooth serial control mode so I can switch between forward, back, left, right, and stop.

If anything is unclear, look up the current docs online and use sensible defaults. I’d like the result to be easy to run, easy to flash, and include the main files needed for training, exporting, and robot playback.