Fixing the bumping bug

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.

Reviewers

• @heather
• @cw
• @amyblank
• @bz
• @ps

Resources

Issues

What issues does this fix?

• Fixes #48
• Fixes #50