Also Select figure with the Translate, Rotate or Universal tool, and click on the little man, a box pops up choose Restore Figure Pose
Technically speaking, "Restore Figure Pose" returns to the last Memorized pose. While it's true that this is usually the "zero pose" for the character, you can also use this to try a pose adjustment. Use the same Edit > Figure menu Leana mentioned, but choose "Memorize > Memorize Pose". Then you can make adjustments and if they don't work, Restore them.
The Zero figure pose command Leana mentioned will always return the figure it it's default zero pose.
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As for your question, there’s a “zero figure pose” option available from several menus when you have the figure selected:
Edit > Figure > Zero > Zero figure pose
Parameters or Posing tab > option menu > Zero > Zero figure pose
Also Select figure with the Translate, Rotate or Universal tool, and click on the little man, a box pops up choose Restore Figure Pose
Technically speaking, "Restore Figure Pose" returns to the last Memorized pose. While it's true that this is usually the "zero pose" for the character, you can also use this to try a pose adjustment. Use the same Edit > Figure menu Leana mentioned, but choose "Memorize > Memorize Pose". Then you can make adjustments and if they don't work, Restore them.
The Zero figure pose command Leana mentioned will always return the figure it it's default zero pose.
Many pose sets come with a return to zero pose in them. Though they might not cover everything like eyes and such. DM's products are good about that.
Spyrorue's DeviantArt page has freebie pose rests for G8F/G8M and G3F/G3M. They not only reset the whole figure but also by body part.
https://www.deviantart.com/spyrorue/gallery/55077179/freebies