code: def cylinder_inertia(mass, radius, height, transform=None):
      
      h2, r2 = height ** 2, radius ** 2
      diagonal = np.array([((mass * h2) / 12) + ((mass * r2) / 4),
                           ((mass * h2) / 12) + ((mass * r2) / 4),
                           (mass * r2) / 2])
      inertia = diagonal * np.eye(3)
  
      if transform is not None:
          inertia = transform_inertia(transform, inertia)
  
      return inertia
docs: Return the inertia tensor of a cylinder.
  
      Parameters
      ------------
      mass : float
        Mass of cylinder
      radius : float
        Radius of cylinder
      height : float
        Height of cylinder
      transform : (4,4) float
        Transformation of cylinder
  
      Returns
      ------------
      inertia : (3,3) float
        Inertia tensor