code: def test_body_dcm():
      A = Body("A")
      B = Body("B")
      A.frame.orient_axis(B.frame, B.frame.z, 10)
      assert A.dcm(B) == Matrix(
          [[cos(10), sin(10), 0], [-sin(10), cos(10), 0], [0, 0, 1]]
      )
      assert A.dcm(B.frame) == Matrix(
          [[cos(10), sin(10), 0], [-sin(10), cos(10), 0], [0, 0, 1]]
      )
  
imports: from sympy import Symbol, symbols, sin, cos, Matrix, zeros, simplify
  from sympy.physics.vector import Point, ReferenceFrame, dynamicsymbols, Dyadic
  from sympy.physics.mechanics import inertia, Body
  from sympy.testing.pytest import raises
label_desc: Use image node_id 9 for calling a global function with example usage: test_body_dcm() without return types