def put_dewar(segment, puck, sample, force=False):
    """
    """
    print "put_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()


    if not robot.is_dewar():
        robot.move_dewar(*cover_info)  
        
    robot.put_dewar(segment, puck, sample)
    return True