If I’ve added torque to a rigidbody using addrelativetorque is there a way to stop that torque without knowing exactly how much I’ve added? Or can I query the object somehow to determine how much torque is applied to it?
You can access Rigidbody.angularVelocity. It is a vector3 which you can read and manipulate. For example, if you wanted to stop all angular velocity you could do:
rigidbody.angularVelocity = Vector3.zero;