def put_rt(puck, sample):
    """
    """
    print "put_rt: ",puck, sample
    
    #Initial checks
    assert_valid_address('R', puck, sample)
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()

    #Enabling
    enable_motion()

    if not robot.is_rt():
        robot.move_rt()  
           
    robot.put_rt(puck, sample)