@jimmya Nothing here or anywhere mentions how to get the actual centre of a plane anchor. When using the planeAnchor.centre vector, and using that to place my object, instead of appearing at the centre of the plane it appears at the corner (not even on the plane, just off it). It is the same each time so it thinks this is the centre. So how does one use the planeAnchor data to get the actual centre in world space of the plane? It would be nice to be able to loop through tracked planes, and use their actual world space centre to position an object, and its extent to determine the bounds so it can move around on the surface. I feel like working this out is the last thing stopping me from really using this properly. it would be great to be able to work out actual world space bounds + positions so I can make things walk around on surfaces. Any help will be greatly appreciated! EDIT: or should i be using the plane anchor game object rather than plane anchor to position object? If so are you getting the bounds of that simply by checking a collider or is there some XR.iOS function other than the matrix ops needed to get the bounds of a AR anchor bound gameobject?