code: def set_pid_params(self, *args, **kwargs):
          '''Set PID parameters for all joints in the skeleton.
  
          Parameters for this method are passed directly to the `pid` constructor.
          '''
          for joint in self.joints:
              joint.target_angles = [None] * joint.ADOF
              joint.controllers = [pid(*args, **kwargs) for i in range(joint.ADOF)f set_pid_params(self, *args, **kwargs):
          '''Set PID parameters for all joints in the skeleton.
  
          Parameters for this method are passed directly to the `pid` constructor.
          '''
          for joint in self.joints:
              joint.target_angles = [None] * joint.ADOF
              joint.controllers = [pid(*args, **kwargs) for i in range(joint.ADOF)]
docs: Set PID parameters for all joints in the skeleton.
  
          Parameters for this method are passed directly to the `pid` constructor.