As far as licensing, I do have a dependency on ViSP, which necessitates the GPL. But also, just curious, but why is permissive licensing important to you? You can do pretty much whatever you want with GPL code, no?
I'll work on getting my ACT changes open as well in the coming week or two. Curious about what you're working on.
I have made a leader arm for the GELLO project. See https://github.com/wuphilipp/gello_mechanical/tree/main/ar4