This repo is a continuation of my inverse kinematics tutorial of stewart platforms https://github.com/Yeok-c/Stewart_Py.
The Jupyter Notebook shows how to stream data with Serial to an ESP32 connected to a PCA6835 to control the servo motors.
Cad files can be found in the stl_files folder
ESP32 code can be found in esp32_code folder. It is written in Arduino IDE and it acts as an in between MCU to transmit I2C data to the servo controller
The BOM can be found here BOM LIST, links I used for purchase are provided as well. I'm based in Hong Kong so the links are from Taobao - even if you can't purchase from the same source, I hope the pictures and model numbers would be useful for your search for components.