def check_gripper(sample):
    print "tool open: " + str(robot.is_tool_open())
    print "gripper: " + str(robot.gripper_has_sample())
    print "di gripper has sample: " + str(robot.eval_bool("diToolHasSample"))
    print "di gripper open: " + str(robot.eval_bool("diToolOpen"))

def fetch_check_gripper(sample):
    if not robot.is_aux():
        robot.move_aux()
    robot.get_aux(sample)
    print "tool open: " + str(robot.is_tool_open())
    print "gripper: " + str(robot.gripper_has_sample())
    print "di has sample: " + str(robot.eval_bool("diToolHasSample"))
    print "di tool open: " + str(robot.eval_bool("diToolOpen"))

def swap_samples(a, b, empty):
    robot.get_aux(a)
    robot.put_aux(empty)
    robot.get_aux(b)
    robot.put_aux(a)
    robot.get_aux(empty)
    robot.put_aux(b)

def fetch_go_cold():
    robot.move_gonio()
    robot.get_gonio()
    robot.move_cold()

def pickup(seg, puck, sam):
    robot.move_dewar()
    robot.get_dewar(seg, puck, sam)
    robot.move_cold()