• Added more ball bearings to the wave generator, removing the ball bearing spacer by filling it completely. This increases accuracy in the wave generator ellipse profile
• Changed Tooth Profile
• Changed Teeth and Circular Spline and FlexSpline to 62 and 60 respectively
• Increased Thickness of Circular Spline outer plastic.

I tested the Joint up to 6.26KG at 33cm distance (20.26 Nm), any higher, motor stalls. I am assuming there is a lot of friction in the planetary gearset, I will be working on that.

Super happy with the fact the FlexSpline Teeth no longer skip!