MQTT bridge for IoT integration with Poppy Ergo Jr

How about a MQTT bridge for Poppy Ergo Jr ?
This would allow lightweight MQTT clients to control Poppy in a simple way.

What if Poppy was exposed as a Homie MQTT device :
This would simplify integration into stage scenes, low level electronics like cheap ESP8266 boards etc…

Anyone looked into it ?
Any advice about where to start the integration ?

(merci @tibo for the inspiring and excellent summary : Lancement d'un programme au démarrage du robot pour le rendre totalement autonnome :wink: )