def get_dewar(segment, puck, sample, force=False):
    """
    """
    print "get_dewar: ", segment, puck, sample, force
    
    #Initial checks
    assert_valid_address(segment, puck, sample)
    assert_puck_detected(segment, puck)
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    hexiposi.assert_homed()
    #location = robot.get_current_point()
    

    #Enabling
    enable_motion()
    
    set_hexiposi(segment)
    
    if not force:        
        visual_check_hexiposi(segment)           

    if not robot.is_dewar():
        robot.move_dewar()      
            
    robot.get_dewar(segment, puck, sample)