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                    <item name="CodeInput" type_name="gh_string" type_code="10">from scriptcontext import sticky as st

import compas
import compas_fab

from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
from compas_ghpython.artists import RobotModelArtist

# Robot meshes are usually in meters
# Set a high percision to prevent parsing errors
# and configure Rhino itself in meters
compas.PRECISION = '12f'

# Store robot in component-based key
model_key = 'model_{}'.format(str(ghenv.Component.InstanceGuid))
artist_key = 'artist_{}'.format(str(ghenv.Component.InstanceGuid))

if model_key not in st:
    st[model_key] = None
if artist_key not in st:
    st[artist_key] = None

if load:
    loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'), 'ur_description')
    model = RobotModel.from_urdf_file(loader.load_urdf('ur5.urdf'))
    model.load_geometry(loader)

    artist = RobotModelArtist(model)

    st[model_key] = model
    st[artist_key] = artist

model = st[model_key]
artist = st[artist_key]
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