code: def _convert_angle_to_pypot(angle, joint, **kwargs):
      
      angle_deg = (angle * 180 / np.pi)
  
      if joint["orientation-convention"] == "indirect":
          angle_deg = -1 * angle_deg
  
      # UGLY
      if joint["name"].startswith("l_shoulder_x"):
          angle_deg = -1 * angle_deg
  
      angle_pypot = angle_deg - joint["offset"]
  
      return angle_pypot
docs: Converts an angle to a PyPot-compatible format