First released in 2002 and actively maintained through at least 2020, the open-source software package YARP is written in C++ for connecting sensors, processors, and actuators in what type of object that represents the third letter in the software's acronym?

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1. First released in 2002 and actively maintained through at least 2020, the open-source software package YARP is written in C++ for connecting sensors, processors, and actuators in what type of object that represents the third letter in the software's acronym?