code: def world_to_body(self, position):
          '''Convert a point in world coordinates to a body-relative offset.
  
          Parameters
          ----------
          position : 3-tuple of float
              A world coordinates position.
  
          Returns
          -------
          offset : 3-tuple of float
              A tuple giving the body-relative offset of the given position.
          '''
          return np.array(self.ode_body.getPosRelPoint(tuple(position))f world_to_body(self, position):
          '''Convert a point in world coordinates to a body-relative offset.
  
          Parameters
          ----------
          position : 3-tuple of float
              A world coordinates position.
  
          Returns
          -------
          offset : 3-tuple of float
              A tuple giving the body-relative offset of the given position.
          '''
          return np.array(self.ode_body.getPosRelPoint(tuple(position)))
docs: Convert a point in world coordinates to a body-relative offset.
  
          Parameters
          ----------
          position : 3-tuple of float
              A world coordinates position.
  
          Returns
          -------
          offset : 3-tuple of float
              A tuple giving the body-relative offset of the given position.