http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
Also I wanted that system to be inspectable as the pipeline was (we were able to generate really pretty data flow diagrams of the pipeline). Meng Meng is not only the name of a Panda in Berlin’s zoo but also the codename of my personal robot control software successor to the FUmanoids.
The aspect within Meng Meng that provides modularization is called TNGL :
A TNGL (meaning: tangle; pronunciation: tingle) is a bundle of nodes (modules) that have links to other nodes within the same TNGL.