Using an RPLIDAR A1 we were able to get some pretty cool 3D scans. This 2D module was designed for use on robots to 2D map the rooms they are in to avoid obstacles. We were able to flip it on its side and spin it 180 degrees with a stepper motor. All of the processing, motor control, data collection is done with Python3
We have created an instructable for this project if you want to try it out on your own!
https://www.instructables.com/LIDAR-PointCloud-3D-Mapping-With-Stepper-Motor-Con/
