def set_pid_params(self, *args, **kwargs):
for joint in self.joints:<EOL><INDENT>joint.target_angles = [None] * joint.ADOF<EOL>joint.controllers = [pid(*args, **kwargs) for i in range(joint.ADOF)]<EOL><DEDENT>
Set PID parameters for all joints in the skeleton.

        Parameters for this method are passed directly to the `pid` constructor.