Resetting Ball Object to the original parent and position

So I am trying to reset a ball to its initial position and re-attach it to its original parent. I am learning coding and I am creating a mini baseball game, not for release, just for me to practice getting objects to do what I want. I have the ball successfully coming out of the pitchers hand (dropping from its parent which is the hand) and being pitched. I can successfully hit it. I have a collision set up that when the ball reaches the outfield it resets to initial state. What is happening is the ball looks like its a couple feet away from the pitchers hand after it resets, the pitcher still throws another pitch and I can hit it again, but it is always a couple feet away from the hand after the first pitch. Here is the part of the code that seems to not be working correctly, any help on what I am doing wrong?

 public class LaunchBall : MonoBehaviour
 {// launch variables
     [SerializeField] private Transform TargetObjectTF;
     [SerializeField] private Transform TargetHitTF;
     [Range(10.0f, 75.0f)] public float LaunchAngle;
     public GameObject Hitter;
     public GameObject Pitcher;
     public GameObject empty;
     public GameObject ball;
     
 
 
 
     // cache
     private Rigidbody rigid;
     private Vector3 initialPosition;
     private Quaternion initialRotation;
     
 
     //-----------------------------------------------------------------------------------------------
 
     // Use this for initialization
     void Start()
     {
         rigid = GetComponent<Rigidbody>();
         transform.parent = empty.transform;
         initialPosition =  transform.position;
         initialRotation = transform.rotation;
     }
 
     // resets the ball, batter, and pitcher to its initial position
     void ResetToInitialState()
     {
         LaunchAngle = 30.0f;
         GetComponent<Rigidbody>().useGravity = false;
         Pitcher.GetComponent<Pitcher>().ResetPitcher();
         transform.parent = empty.transform;
         transform.SetPositionAndRotation(initialPosition, initialRotation);
         Hitter.GetComponent<SwingScript>().ResetBatter();
         rigid.velocity = Vector3.zero;
 
     
     }