def METHOD_NAME(self, time, *args, **kwargs):
    for sys_id, ext_force_torque in self._ext_forces_torques:
        ext_force_torque.apply_forces(self._systems[sys_id], time, *args, **kwargs)
        ext_force_torque.apply_torques(self._systems[sys_id], time, *args, **kwargs)
        # TODO Apply torque, see if necessary