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I built one of these. They are surprisingly good. There is one big problem I had with it though, the Bill of Materials calls for a cross roller bearing that costs $150+ used. Accounting for almost half the cost of the build when you add a motor and a FOC pcb.

I have seen variants that use cheaper ball bearings but it increases the length of the motor.

I am working on a cycloidal drive variant that uses cheaper ball bearings with a 15:1 reduction. It’s been a lot of fun working on it.

Over all we need more open designs like this. I want to see a thriving open source robotics ecosystem. Check out the Moteus BLDC controller too if you are into this kind of thing.