code: def convert_to_ik_angles(self, joints):
          
          if len(joints) != len(self.motors):
              raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors)))
  
          raw_joints = [(j + m.offset) * (1 if m.direct else -1)
                        for j, m in zip(joints, self.motors)]
  
          raw_joints *= self._reversed
  
          return [0] + [deg2rad(j) for j in raw_joints] + [0]
docs: Convert from poppy representation to IKPY internal representation.