code: def _convert_angle_limit(angle, joint, **kwargs):
      
      angle_pypot = angle
  
      # No need to take care of orientation
      if joint["orientation"] == "indirect":
          angle_pypot = 1 * angle_pypot
  
      # angle_pypot = angle_pypot + offset
  
      return angle_pypot * np.pi / 180
docs: Converts the limit angle of the PyPot JSON file to the internal format