code: def save_urdf(output_path, properties):
      urdf_path = output_path / "object.urdf"
      print(urdf_path)
      with open(urdf_path, "w", encoding="utf-8") as f:
          f.write(URDF_TEMPLATE.format(**properties))
      return urdf_path
  
imports: import contextlib
  import copy
  import json
  import pathlib
  import tarfile
  import shutil
  import numpy
  import trimesh
  from kubric.safeimport.bpy import bpy
label_desc: Use image node_id 16 for calling a global function with example usage: save_urdf(output_path, properties) and returns: urdf_path