docs: def inertia(x, y, z, weight=None):
      """Inertia tensor, stolen of thomas"""
      if weight is None:
          weight = 1
      tensor_of_inertia = np.zeros((3, 3), dtype=float)
      tensor_of_inertia[0][0] = (y * y + z * z) * weight
      tensor_of_inertia[0][1] = (-1) * x * y * weight
      tensor_of_inertia[0][2] = (-1) * x * z * weight
      tensor_of_inertia[1][0] = (-1) * x * y * weight
      tensor_of_inertia[1][1] = (x * x + z * z) * weight
      tensor_of_inertia[1][2] = (-1) * y * z * weight
      tensor_of_inertia[2][0] = (-1) * x * z * weight
      tensor_of_inertia[2][1] = (-1) * z * y * weight
      tensor_of_inertia[2][2] = (x * x + y * y) * weight
  
      eigen_values = np.linalg.eigvals(tensor_of_inertia)
      small_inertia = eigen_values[2][2]
      middle_inertia = eigen_values[1][1]
      big_inertia = eigen_values[0][0]
      return small_inertia, middle_inertia, big_inertia