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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def set_angle_limit(self, limit_for_id, **kwargs):
 """ Sets the angle limit to the specified motors. """

        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)