Procedurally animated tortoise

I made a procedurally animated (meaning animation is done dynamically via code) tortoise in Unity. He's my son.


For a simple explanation, his legs have an ideal resting position defined by an empty gameobject (they're children of the model so they stay in same relative position). Once a leg's target (which the leg is always moving to) is a certain distance away from it's resting postion, it moves back to the resting position.