public void goToAtSpeed(Vector3 pos, float s) { Vector3 rots = processIK(pos); gamma.goToAtSpeed(new Vector3(0, rots.x, 0), s); alpha.goToAtSpeed(new Vector3(rots.y, 0, 0), s); beta.goToAtSpeed(new Vector3(rots.z, 0, 0), s); }