There's currently no universal way to give objects an angular velocity. There is `addTorque`, but it only works on PhysX objects.
So you have to do a loop every frame and rotate the object manually.
Having such command would be very useful for having true 6 DoF motion using scripts.
syntax:
```
obj setAngularVelocity [wx, wy, wz];
```
the units are `rad/s`
and a getter command:
```
angularVelocity object
```
I think it makes the most sense if the reference coordinate frame was the model itself. But you can make a world and model variants if you think it's better.