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Is it okay to physically torture prisoners?
Torture is disproportionately cruel towards innocents. An innocent person probably has no useful information to give up, and thus will suffer more from torture than a guilty person that has something to give up.
Soldiers are acting as pieces in a much larger chess game and as such are morally innocent in many if not most cases. To torture an innocent person cannot be considered acceptable.
The disproportionately negative effect on innocents could be used against any given method of law enforcement - death penalty, life sentence, or any type of criminal conviction.