def get_rt(segment, puck, sample):
    """
    """
    print "get_rt: ", segment, puck, sample
    
    #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()
    
       
    if not robot.is_home():
        robot.move_home()              
    set_hexiposi(segment)
    robot.open_lid(segment)
        
    robot.get_rt(segment, puck, sample)
    robot.close_lid(segment)