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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 convert_to_ik_angles(self, joints):
 """ Convert from poppy representation to IKPY internal representation. """

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

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

        raw_joints *= self._reversed

        return [0] + [deg2rad(j) for j in raw_joints] + [0]