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