code: def principal_inertia_transform(self):
          
          order = np.argsort(self.principal_inertia_components)[1:][::-1]
          vectors = self.principal_inertia_vectors[order]
          vectors = np.vstack((vectors, np.cross(*vectors)))
  
          transform = np.eye(4)
          transform[:3, :3] = vectors
          transform = transformations.transform_around(
              matrix=transform,
              point=self.centroid)
          transform[:3, 3] -= self.centroid
  
          return transform
docs: A transform which moves the current mesh so the principal
          inertia vectors are on the X,Y, and Z axis, and the centroid is
          at the origin.
  
          Returns
          ----------
          transform : (4, 4) float
            Homogenous transformation matrix