Consider replicating cartographer functionality to use scan and collision probing together to automate axis twist compensation: https://github.com/Cartographer3D/cartographer3d-plugin/issues/62 and https://github.com/Cartographer3D/cartographer3d-plugin/pull/86/changes/70b2414c12798da381adb39e5e5e331ca77e1277
Consider replicating cartographer functionality to use scan and collision probing together to automate axis twist compensation:
Cartographer3D/cartographer3d-plugin#62
and Cartographer3D/cartographer3d-plugin@70b2414