Applications are divided in the three conceptual blocks SENSE, PLAN and ACT, according if they are related to the perception, deliberative reasoning or actuation control of the humanoid.
More detailed info will be added asap
the architecture uses as middlware both YARP (v2.3.63, pre-compiled) and ROS Noetic, a yarp-bridge ros is available in the dedicated folder
to work on the deliberative cognitive part (inside PLAN) please download CLIPS (C Language Integrated Production System) check this link https://www.clipsrules.net/ to download both the open-source application and the documentation, other parts are implemented in C# or Python