Hand::waitUntilDoneMoving should pass a realtime flag
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.