Add Method to set all finger angles in one write

inspire_hand/hand.py

@@ -253,6 +253,38 @@ def set_finger_angle(self, finger_id: int, angle: int) -> None:
         register_address = Register.ANGLE_SET + (finger_id * 2)
         self.modbus.write_single_register(register_address, angle)
 
+    def set_finger_angles(
+        self,
+        little: int,
+        ring: int,
+        middle: int,
+        index: int,
+        thumb_bend: int,
+        thumb_rotate: int,
+    ) -> None:
+        """
+        Set the angle of each finger individually in a single write.
+
+        Args:
+            little: Angle for the little finger (0-1000)
+            ring: Angle for the ring finger (0-1000)
+            middle: Angle for the middle finger (0-1000)
+            index: Angle for the index finger (0-1000)
+            thumb_bend: Angle for thumb bend (0-1000)
+            thumb_rotate: Angle for thumb rotation (0-1000)
+        """
+        self._check_connection()
+
+        values = [little, ring, middle, index, thumb_bend, thumb_rotate]
+        for name, v in zip(
+            ("little", "ring", "middle", "index", "thumb_bend", "thumb_rotate"),
+            values,
+        ):
+            if not 0 <= v <= 1000:
+                raise ValueError(f"Invalid angle for {name}. Must be 0-1000.")
+
+        self.modbus.write_multiple_registers(Register.ANGLE_SET, values)
+
     def set_all_finger_speeds(self, speed: int) -> None:
         """
         Set the speed for all fingers.