25:1 Dual disk single stage Cycloidal Actuator
Community improved with links below

https://www.thingiverse.com/thing:478...
  / gouldpa00  
https://hackaday.io/project/1578123d...
https://hackaday.io/project/166133tr...

Mike Buckingham
  / mike.buckingham.72  
Matt Wildoer   / i_made_a_cycloidal_drive_for_cheap_robots_git  
Tim Wilkinson
https://hackaday.io/project/1656533d...
Budge Projects
https://www.instructables.com/3DPrin...
Dan Royer’s
https://www.marginallyclever.com/chan...
Simple FOC
https://simplefoc.com/
Forgot to mention something similar by MRB.Engineering
   • 3000 RPM test! 3D printed Cycloidal R...