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Since this is your first time using a LiDAR sensor, I thought I would answer if it might be possible.

The Hokuyo utm 30lx is a 2D LiDAR, so it senses only in the horizontal direction. In a tidy room, a few lines may be correct. ( as in this image )

If the sensing result you want is something like this image, then you need to get a 3D LiDAR sensor.

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