public void DoSquat()
{
//change posture to squat
posture.RotateTo(posture.rightHandObject, -squatPhase);
posture.RotateTo(posture.leftHandObject, squatPhase);
posture.RotateTo(posture.rightLegObject, 0);
posture.RotateTo(posture.leftLegObject, 0);
}
