<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def convert_from_ik_angles(self, joints):
 """ Convert from IKPY internal representation to poppy representation. """

        if len(joints) != len(self.motors) + 2:
            raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors) + 2))

        joints = [rad2deg(j) for j in joints[1:-1]]
        joints *= self._reversed

        return [(j * (1 if m.direct else -1)) - m.offset
                for j, m in zip(joints, self.motors)]