# rotation3d_y¶

Rotation matrix about the y axis by the input angle $$\Theta$$

$\begin{split}\mathbf{\tau}_y = \begin{bmatrix} \cos(\Theta) & 0 & -\sin(\Theta) \\ 0 & 1 & 0 \\ \sin(\Theta) & 0 & \cos(\Theta) \end{bmatrix}\end{split}$
param angle