cycloidal designs are a great thing to have actually built rather than just read about. the eccentric motion is easy to follow on paper and then surprisingly fiddly once real tolerances show up.

two things worth measuring if you have not: backlash, and how much it changes after a few hundred cycles. cycloidal drives are usually sold on low backlash, so knowing your real number turns this from a nice print into something you can quote a spec for. if you have a way to load the output shaft, efficiency under load is the other number people will ask about.