def get_dewar(segment, puck, sample, force=False):
    """
    """
    print "get_dewar: ", segment, puck, sample, force
    cover_info = get_cover_location_mm()
    
    #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()
    

    #Enabling
    enable_motion()
    #added or robot.is_cold in condition    
    if not robot.is_dewar():
        robot.move_dewar(*cover_info)  
    robot.get_dewar(segment, puck, sample)