code: def test_rigidbody_inertia():
      N = ReferenceFrame("N")
      m, Ix, Iy, Iz, a, b = symbols("m, I_x, I_y, I_z, a, b")
      Io = inertia(N, Ix, Iy, Iz)
      o = Point("o")
      p = o.locatenew("p", a * N.x + b * N.y)
      R = RigidBody("R", o, N, m, (Io, p))
      I_check = inertia(
          N,
          Ix - b**2 * m,
          Iy - a**2 * m,
          Iz - m * (a**2 + b**2),
          m * a * b,
      )
      assert isinstance(R.inertia, Inertia)
      assert R.inertia == (Io, p)
      assert R.central_inertia == I_check
      R.central_inertia = Io
      assert R.inertia == (Io, o)
      assert R.central_inertia == Io
      R.inertia = (Io, p)
      assert R.inertia == (Io, p)
      assert R.central_inertia == I_check
      # parse Inertia object
      R.inertia = Inertia(Io, o)
      assert R.inertia == (Io, o)
  
file_path: sympy/sympy/physics/mechanics/tests/test_rigidbody.py
imports: from sympy.physics.mechanics import Point, ReferenceFrame, Dyadic, RigidBody
  from sympy.physics.mechanics import dynamicsymbols, outer, inertia, Inertia
  from sympy.physics.mechanics import inertia_of_point_mass
  from sympy import expand, zeros, simplify, symbols
  from sympy.testing.pytest import raises, warns_deprecated_sympy
label_desc: Use image node_id 6 for calling a global function with example usage: test_rigidbody_inertia() without return types