I created a basic scanner by using an RPLiDAR library from a YouTube Video. I adjusted the script for my LiDAR type and fixed a few bugs in the code such as angular positioning inversions. I also started working on the readjustment logic in which the frame is held still when the robot turns by rotating every point on the frame in the opposite direction that it is turning in. I also improved the color logic by using an actual gradient-based shader.