I’m currently working on an ESP based custom controller board (espressif / FreeRTOS), two hexapods (XL-320 and AX-12 based) and a pod simulator written in Golang
I am documenting the build on hackaday.io and on Youtube
More videos are coming 
1: (Slightly silly) Introduction (YouTube)
2: Generic pod simulator and custom ESP32 controller board (YouTube)
3: Dynamixel2Espressif component with ESP port handler
The golang simulator is still a work in progress, but I’ll drop everything on github once I’m happy with the code.
Build log:
Espressif component:
The golang simulator is still a work in progress, but I’ll drop everything on github once I’m happy with the code.