def rot_y(cls, y: Tensor) -> So3:
        """Construct a z-axis rotation.

        Args:
            y: the y-axis rotation angle.

        """
        zs = zeros_like(y)
        return cls.exp(stack((zs, y, zs), -1))
Construct a z-axis rotation.

        Args:
            y: the y-axis rotation angle.

        
kornia/geometry/liegroup/so3.py