code: def angular_momentum(point, frame, *body):
      """Angular momentum of a system.
  
      Explanation
      ===========
  
      This function returns the angular momentum of a system of Particle's and/or
      RigidBody's. The angular momentum of such a system is equal to the vector
      sum of the angular momentum of its constituents. Consider a system, S,
      comprised of a rigid body, A, and a particle, P. The angular momentum of
      the system, H, is equal to the vector sum of the angular momentum of the
      particle, H1, and the angular momentum of the rigid body, H2, i.e.
  
      H = H1 + H2
  
      Parameters
      ==========
  
      point : Point
          The point about which angular momentum of the system is desired.
      frame : ReferenceFrame
          The frame in which angular momentum is desired.
      body1, body2, body3... : Particle and/or RigidBody
          The body (or bodies) whose angular momentum is required.
  
      Examples
      ========
  
      >>> from sympy.physics.mechanics import Point, Particle, ReferenceFrame
      >>> from sympy.physics.mechanics import RigidBody, outer, angular_momentum
      >>> N = ReferenceFrame('N')
      >>> O = Point('O')
      >>> O.set_vel(N, 0 * N.x)
      >>> P = O.locatenew('P', 1 * N.x)
      >>> P.set_vel(N, 10 * N.x)
      >>> Pa = Particle('Pa', P, 1)
      >>> Ac = O.locatenew('Ac', 2 * N.y)
      >>> Ac.set_vel(N, 5 * N.y)
      >>> a = ReferenceFrame('a')
      >>> a.set_ang_vel(N, 10 * N.z)
      >>> I = outer(N.z, N.z)
      >>> A = RigidBody('A', Ac, a, 20, (I, Ac))
      >>> angular_momentum(O, N, Pa, A)
      10*N.z
  
      """
  
      if not isinstance(frame, ReferenceFrame):
          raise TypeError("Please enter a valid ReferenceFrame")
      if not isinstance(point, Point):
          raise TypeError("Please specify a valid Point")
      else:
          angular_momentum_sys = Vector(0)
          for e in body:
              if isinstance(e, (RigidBody, Particle)):
                  angular_momentum_sys += e.angular_momentum(
                      point, frame
                  )
              else:
                  raise TypeError(
                      "*body must have only Particle or RigidBody"
                  )
      return angular_momentum_sys
  
imports: from sympy.utilities import dict_merge
  from sympy.utilities.iterables import iterable
  from sympy.physics.vector import Dyadic, Vector, ReferenceFrame, Point, dynamicsymbols
  from sympy.physics.vector.printing import vprint, vsprint, vpprint, vlatex, init_vprinting
  from sympy.physics.mechanics.particle import Particle
  from sympy.physics.mechanics.rigidbody import RigidBody
  from sympy.simplify.simplify import simplify
  from sympy import Matrix, Mul, Derivative, sin, cos, tan, S
  from sympy.core.function import AppliedUndef
  from sympy.physics.mechanics.inertia import inertia, inertia_of_point_mass
  from sympy.utilities.exceptions import sympy_deprecation_warning
label_desc: Use image node_id 5 for calling a global function with example usage: angular_momentum(point, frame) and returns: angular_momentum_sys