def put_gonio(force=False):
    """
    """
    print "put_gonio: ", force


    if robot.simulated:
        time.sleep(3.0)
        return      
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()
    
    if not robot.is_gonio():
        robot.move_gonio()
    robot.put_gonio()