def open_lid():
    """
    """
    print "open_lid"

    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    hexiposi.assert_homed()    
    pos = hexiposi.position
    if pos == hexiposi.UNKNOWN_POSITION:
        raise Exception("Undefined hexiposi position")
    #Enabling
    enable_motion()

    robot.open_lid(pos)