Are you having coffee with milk? Casein/whey allergies affect a single-digit number of the population and can lead to feelings of sluggishness. Try black/almond/oat/etc.
Depending on how much more accurate they are than an IMU (mems or gyroscope based) - you might see them have a very real and significant effect in submarine navigation, especially for drones.
ROS-1 still has quite a lot of functionality written in and accessible from lisp (c++ and python are the major languages nowadays). irobot was founded by alums of the MIT AGI lab, which used lisp extensively.
I suspect that's why lisp is in there at all! It's very likely python/cpp nowadays though.