def rot2(theta):
    """
    Args:
        theta (float): Angle in radians
    Return:
        Rotation matrix of angle theta around the Y-axis
    """
    return np.array([
        [np.cos(theta), 0, -np.sin(theta)],
        [0, 1, 0],
        [np.sin(theta), 0, np.cos(theta)]
    ])
def rot2 ( theta ) : return np . array ( [ [ np . cos ( theta ) , 0 , - np . sin ( theta ) ] , [ 0 , 1 , 0 ] , [ np . sin ( theta ) , 0 , np . cos ( theta ) ] ] )
Args:
        theta (float): Angle in radians
    Return:
        Rotation matrix of angle theta around the Y-axis