code: def set_angle_limit(self, limit_for_id, **kwargs):
          
          convert = kwargs['convert'] if 'convert' in kwargs else self._convert
  
          if 'wheel' in self.get_control_mode(limit_for_id.keys()):
              raise ValueError('can not change the angle limit of a motor in wheel mode')
  
          if (0, 0) in limit_for_id.values():
              raise ValueError('can not set limit to (0, 0)')
  
          self._set_angle_limit(limit_for_id, convert=convert)
docs: Sets the angle limit to the specified motors.