code: def add_torque(self, torque, relative=False):
          '''Add a torque to this body.
  
          Parameters
          ----------
          force : 3-tuple of float
              A vector giving the torque along each world or body coordinate axis.
          relative : bool, optional
              If False, the torque values are assumed to be given in the world
              coordinate frame. If True, they are assumed to be given in the
              body-relative coordinate frame. Defaults to False.
          '''
          op = self.ode_body.addRelTorque if relative else self.ode_body.addTorque
          op(torquef add_torque(self, torque, relative=False):
          '''Add a torque to this body.
  
          Parameters
          ----------
          force : 3-tuple of float
              A vector giving the torque along each world or body coordinate axis.
          relative : bool, optional
              If False, the torque values are assumed to be given in the world
              coordinate frame. If True, they are assumed to be given in the
              body-relative coordinate frame. Defaults to False.
          '''
          op = self.ode_body.addRelTorque if relative else self.ode_body.addTorque
          op(torque)
docs: Add a torque to this body.
  
          Parameters
          ----------
          force : 3-tuple of float
              A vector giving the torque along each world or body coordinate axis.
          relative : bool, optional
              If False, the torque values are assumed to be given in the world
              coordinate frame. If True, they are assumed to be given in the
              body-relative coordinate frame. Defaults to False.