private void Reset()
{
//Places legs at initial position
//Set all joint target angles to zero
Quaternion quat = Quaternion.Euler(0, 0, 0);
JointSpring spring = new JointSpring();
spring.spring = spring_const;
spring.damper = damper;
hip_right.targetRotation = quat;
knee_right.spring = spring;
hip_left.targetRotation = quat;
knee_left.spring = spring;
//Set rotations of all body parts to zero
body.transform.rotation = quat;
upper_right.transform.rotation = quat;
lower_right.transform.rotation = quat;
upper_left.transform.rotation = quat;
lower_left.transform.rotation = quat;
//Set positions of all parts to inital ones
body.transform.position = new Vector3(1, 5, 0);
upper_right.transform.position = new Vector3(2, 4, 0);
lower_right.transform.position = new Vector3(2, 1, 0);
upper_left.transform.position = new Vector3(0, 4, 0);
lower_left.transform.position = new Vector3(0, 1, 0);
//Set velocity of all parts to zero
ResetVelocity(body);
ResetVelocity(upper_right);
ResetVelocity(lower_right);
ResetVelocity(upper_left);
ResetVelocity(lower_left);
//Set net activities to zero
net.ResetActivities();
}