code: def test_kane_rolling_disc_kdes_callable():
      props = _create_rolling_disc()
      kane = KanesMethod(
          props["frame"],
          props["q_ind"],
          props["u_ind"],
          props["kdes"],
          u_dependent=props["u_dep"],
          velocity_constraints=props["fnh"],
          bodies=props["bodies"],
          forcelist=props["loads"],
          explicit_kinematics=False,
          kd_eqs_solver=lambda A, b: simplify(A.LUsolve(b)),
      )
      q, u, p = (
          dynamicsymbols("q1:6"),
          dynamicsymbols("u1:6"),
          symbols("g r m"),
      )
      qd = dynamicsymbols("q1:6", 1)
      eval_kdes = lambdify(
          (q, qd, u, p), tuple(kane.kindiffdict().items())
      )
      eps = 1e-10
      # Test with only zeros. If 'LU' would be used this would result in nan.
      p_vals = (9.81, 0.25, 3.5)
      zero_vals = (0, 0, 0, 0, 0)
      assert all(
          abs(qdi - fui) < eps
          for qdi, fui in eval_kdes(
              zero_vals, zero_vals, zero_vals, p_vals
          )
      )
      # Test with some arbitrary values
      q_vals = tuple(map(float, (pi / 6, pi / 3, pi / 2, 0.42, 0.62)))
      qd_vals = tuple(
          map(
              float,
              (
                  4,
                  1 / 3,
                  4 - 2 * sqrt(3),
                  0.25 * (2 * sqrt(3) - 3),
                  0.25 * (2 - sqrt(3)),
              ),
          )
      )
      u_vals = tuple(
          map(
              float,
              (
                  -2,
                  4,
                  1 / 3,
                  0.25 * (-3 + 2 * sqrt(3)),
                  0.25 * (-sqrt(3) + 2),
              ),
          )
      )
      assert all(
          abs(qdi - fui) < eps
          for qdi, fui in eval_kdes(q_vals, qd_vals, u_vals, p_vals)
      )
  
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 4 for calling a global function with example usage: test_kane_rolling_disc_kdes_callable() without return types