[Help Needed] Seeking Guidance on Implementing Inverse Kinematics for da Vinci Robot with dvrk-xr Library in Unity

[Beverley Beer]

Hello, I am a beginner, and I would like to use your dvrk-xr library to accomplish the inverse kinematics for the da Vinci robot. However, I am not sure about the DH parameter table for this library. I have tried using Newton's iterative method and gradient descent algorithm, but the results were not satisfactory. If possible, could you please provide me with a function to implement the inverse kinematics in Unity, or offer some guidance on how to improve my approach? Thank you!