http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
The point is: it worked and also it enabled new students to join and contribute to the project quickly. Modularity then was mostly implemented on an execution level.
The application was split into five threads (vision, motion, behavior, role, strategy) therefore the boundaries between modules were defined on a more functional level.