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Fixing the bumping bug

Chris Woodall requested to merge feature/fixing-bumping-bug into devel

Description

  • Moved RGC control loop into the ServerUpdate call to synchronize on received data.
  • Moved some of the blocking calls back into the main loop.
  • Removes the bumping behavior (See #48 ) and increases the reliability of the force commands.
  • Also fixes crash on Psuedo Inverse Calculation

What to focus on

  • put content here.

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Issues

What issues does this fix?

  • Fixes #48
  • Fixes #50

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