How did you come-up with your SaaS Pricing?

We have done a fair bit of research on the internet but have come to the conclusion that setting the product price for a new SaaS startup is not easy. We're almost concluding that setting pricing is more like an art than a science? There is loads of literature from VC's on this topic but we couldn't find any prescriptive methodology on SaaS pricing. Can you pls share any experience you have had with SaaS pricing at launch? Sean