private void IntersectPlane() { Vector3 screenCenter = new Vector3((float)Screen.width / 2f, (float)Screen.height / 2f, 0f); Ray ray = camera.ScreenPointToRay(screenCenter); float enter = 0.0f; if (groundPlane.Raycast(ray, out enter)) { Vector3 hitPos = ray.GetPoint(enter); //Get the point that is clicked rig.setTarget(hitPos); robot.setTarget(rig.GetToolPosition(), rig.GetToolOrientation()); } }