def calculateSphereInertia(mass, r):
    """Returns upper diagonal of inertia tensor of a sphere as tuple.

    Args:
      mass(float): The spheres mass.
      r(float): The spheres radius.

    Returns:
      : tuple(6)

    """
    i = 0.4 * mass * r ** 2
    ixx = i
    ixy = 0
    ixz = 0
    iyy = i
    iyz = 0
    izz = i
    return ixx, ixy, ixz, iyy, iyz, izz