def mk_y_fnl(th0, th1, ytarg):
    def fnl(cost, x, y, th):
        actual_th0 = atan2(y, x)
        actual_th1 = th - actual_th0
        return th0 - actual_th0, actual_th1 - th1, ytarg - hypot(x, y)
    return fnl
dataset/ETHPy150Open google/roboto/third_party/spiro/curves/mecsolve.py/mk_y_fnl/swapped operands of `-`