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well, actually there is documentation available: https://www.yoctoproject.org/documentation/presentations. The development manual Yocto Project Development Manual referred there also includes descriptions on image customizations.
On your specific request: to just add packages you'd need to
- find / write the recipes (e.g. oe-core/meta/recipes-devtools/python/python-numpy at master · openembedded/oe-core · GitHub for numpy)
- add the corresponding packages to edison-image.bb, or edison-image.bbappend respectively. (IMAGE_INSTALL += "<package name>")
Confirm, it works.
I don't try with scipy since I don't need it now. (So gfortran inclusion)
But the links were helpfull