Hi Bartek!
Yes, it is possible to prepare a sequence of GCode commands.
In the Rubik’s cube video I used the software Universal Gcode Sender to load a custom .gcode file and run it!
Creating a custom .gcode file is simply as open the Text Editor, write the GCode commands you want the robot to execute and save it as FileName.gcode
After that, open the UGS, do the board connection, load the GCode file and run it 🙂
Hope it helps!