What do you want to do exactly, rotate around the local X axis or the world X axis? The torque is in world coordinates, so what you're seeing seems normal to me. Also, what do you mean by "only the object itself seems to rotate, the orientation of the object seems to stay the same", how can the orientation stay the same if the object rotates? It's also not clear if your images were with or without the rotation in your code snippet.
Hi thanks for your reply!
What i want is to rotate an object around the local X axis. No matter how it's located in the world, it should always rotate the same way. So for example, i have a camera pointing to the side of an object, i rotate the object around it's z axis, after doing that i rotate the object 90 degrees in the world and rotate the object around it's z axis again. I should see the same output. However, this is not the case right now. I am not sure what i'm doing wrong, and how it should be done. There seems to be very little documentation about this.