 parameter optimization.
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Another way to accomplish this would be to create a flat calibration target
with little fiducials, most likely + symbols, which can be attached to the printbed.
A small camera, with macro focus, could be mounted to the end-effector, and used
to track the fiducials for known XY positions.
A traditional bed probe, also attached to the end-effector, could be used
to estimate bed levels, albeit at an offset fro