code: def _create_rolling_disc():
      # Define symbols and coordinates
      t = dynamicsymbols._t
      q1, q2, q3, q4, q5, u1, u2, u3, u4, u5 = dynamicsymbols(
          "q1:6 u1:6"
      )
      g, r, m = symbols("g r m")
      # Define bodies and frames
      ground = RigidBody("ground")
      disc = RigidBody("disk", mass=m)
      disc.inertia = (
          m * r**2 / 4 * inertia(disc.frame, 1, 2, 1),
          disc.masscenter,
      )
      ground.masscenter.set_vel(ground.frame, 0)
      disc.masscenter.set_vel(disc.frame, 0)
      int_frame = ReferenceFrame("int_frame")
      # Orient frames
      int_frame.orient_body_fixed(ground.frame, (q1, q2, 0), "zxy")
      disc.frame.orient_axis(int_frame, int_frame.y, q3)
      g_w_d = disc.frame.ang_vel_in(ground.frame)
      disc.frame.set_ang_vel(
          ground.frame, u1 * disc.x + u2 * disc.y + u3 * disc.z
      )
      # Define points
      cp = ground.masscenter.locatenew(
          "contact_point", q4 * ground.x + q5 * ground.y
      )
      cp.set_vel(ground.frame, u4 * ground.x + u5 * ground.y)
      disc.masscenter.set_pos(cp, r * int_frame.z)
      disc.masscenter.set_vel(
          ground.frame,
          cross(
              disc.frame.ang_vel_in(ground.frame),
              disc.masscenter.pos_from(cp),
          ),
      )
      # Define kinematic differential equations
      kdes = [
          g_w_d.dot(disc.x) - u1,
          g_w_d.dot(disc.y) - u2,
          g_w_d.dot(disc.z) - u3,
          q4.diff(t) - u4,
          q5.diff(t) - u5,
      ]
      # Define nonholonomic constraints
      v0 = cp.vel(ground.frame) + cross(
          disc.frame.ang_vel_in(int_frame), cp.pos_from(disc.masscenter)
      )
      fnh = [v0.dot(ground.x), v0.dot(ground.y)]
      # Define loads
      loads = [(disc.masscenter, -disc.mass * g * ground.z)]
      bodies = [disc]
      return {
          "frame": ground.frame,
          "q_ind": [q1, q2, q3, q4, q5],
          "u_ind": [u1, u2, u3],
          "u_dep": [u4, u5],
          "kdes": kdes,
          "fnh": fnh,
          "bodies": bodies,
          "loads": loads,
      }
  
imports: from sympy import zeros, Matrix, symbols, lambdify, sqrt, pi, simplify
  from sympy.physics.mechanics import dynamicsymbols, cross, inertia, RigidBody, ReferenceFrame, KanesMethod
label_desc: Use image node_id 1 for calling a global function with example usage: _create_rolling_disc() and returns: dict