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When running both a WAM and a hand simultaneously, it is possible to call hand.trapezoidalMove() and related commands in the main loop. However, using the blocking functionality (hand.trapezoidalMove(position, true)) causes the WAM to heartbeat fault. It looks like this is because the doneMoving() command ends up getting called with realtime=false, so the thread does not acquire a lock on the bus. Calling with realtime=true does not crash.