code: def convert_from_ik_angles(self, joints):
          
          if len(joints) != len(self.motors) + 2:
              raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors) + 2))
  
          joints = [rad2deg(j) for j in joints[1:-1]]
          joints *= self._reversed
  
          return [(j * (1 if m.direct else -1)) - m.offset
                  for j, m in zip(joints, self.motors)]
docs: Convert from IKPY internal representation to poppy representation.