<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def principal_inertia_transform(self):
 """ 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 """

        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