code: def set_pid_gain(self, pid_for_id, **kwargs):
          
          pid_for_id = dict(itertools.izip(pid_for_id.iterkeys(),
                                           [tuple(reversed(t)) for t in pid_for_id.values()]))
          self._set_pid_gain(pid_for_id, **kwargs)
docs: Sets the pid gain to the specified motors.