diff --git a/Applications/Robot/VRScanComputer.lua b/Applications/Robot/VRScanComputer.lua
new file mode 100644
index 00000000..b8b59375
--- /dev/null
+++ b/Applications/Robot/VRScanComputer.lua
@@ -0,0 +1,95 @@
+
+local component = require("component")
+local GUI = require("GUI")
+local filesystem = require("filesystem")
+local MineOSPaths = require("MineOSPaths")
+
+local glasses = component.glasses
+local modem = component.modem
+
+--------------------------------------------------------------------------------
+
+local port = 512
+
+config = {
+	offsetX = 0,
+	offsetY = 0,
+	offsetZ = 0,
+}
+
+local configPath = MineOSPaths.applicationData .. "VRScan.cfg"
+if filesystem.exists(configPath) then
+	config = table.fromFile(configPath)
+end
+
+--------------------------------------------------------------------------------
+
+local function broadcast(...)
+	modem.broadcast(port, "VRScan", ...)
+end
+
+local mainContainer = GUI.fullScreenContainer()
+mainContainer:addChild(GUI.panel(1, 1, mainContainer.width, mainContainer.height, 0xF0F0F0))
+
+local layout = mainContainer:addChild(GUI.layout(1, 1, mainContainer.width, mainContainer.height, 1, 1))
+
+local offsetXInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetX), "Robot offset by X"))
+
+local offsetYInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetY), "Robot offset by Y"))
+
+local offsetZInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetZ), "Robot offset by Z"))
+
+local widthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Width: ", ""))
+widthSlider.height = 2
+widthSlider.roundValues = true
+
+local heightSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Height: ", ""))
+heightSlider.height = 2
+heightSlider.roundValues = true
+
+local lengthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Length: ", ""))
+lengthSlider.height = 2
+heightSlider.roundValues = true
+
+local radiusSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Radius: ", ""))
+radiusSlider.height = 2
+radiusSlider.roundValues = true
+
+local minDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Min density: ", ""))
+minDensitySlider.height = 2
+
+local maxDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Max density: ", ""))
+maxDensitySlider.height = 2
+
+layout:addChild(GUI.button(1, 1, 36, 3, 0xC3C3C3, 0xFFFFFF, 0x969696, 0xFFFFFF, "Scan")).onTouch = function()
+	config.offsetX, config.offsetY, config.offsetZ = tonumber(offsetXInput.text), tonumber(offsetYInput.text), tonumber(offsetZInput.text)
+	table.toFile(configPath, config)
+	
+	broadcast(
+		"scan",
+		config.offsetX,
+		config.offsetY,
+		config.offsetZ,
+		math.floor(widthSlider.value),
+		math.floor(heightSlider.value),
+		math.floor(lengthSlider.value),
+		math.floor(radiusSlider.value),
+		minDensitySlider.value,
+		maxDensitySlider.value
+	)
+end
+
+layout.eventHandler = function(mainContainer, layout, e1, e2, e3, e4, e5, e6, e7, e8, e9, e10, e11, e12)
+	if e1 == "modem_message" and e6 == "VRScan" then
+		if e7 == "result" then
+			local robotX, robotY, robotZ, result = e[8], e[9], e[10], serialization.unserialize(e[11])
+			GUI.alert("Got result from " .. robotX .. "x" .. robotY .. robotZ .. " with size " .. #result)
+		end
+	end
+end
+
+--------------------------------------------------------------------------------
+
+modem.open(port)
+mainContainer:drawOnScreen(true)
+mainContainer:startEventHandling()
\ No newline at end of file
diff --git a/Applications/Robot/VRScanRobot.lua b/Applications/Robot/VRScanRobot.lua
new file mode 100644
index 00000000..20ba8fdc
--- /dev/null
+++ b/Applications/Robot/VRScanRobot.lua
@@ -0,0 +1,61 @@
+
+local AR = require("advancedRobot")
+local event = require("event")
+local serialization = require("serialization")
+
+local port = 512
+AR.proxies.modem.open(port)
+
+--------------------------------------------------------------------------------
+
+local function broadcast(...)
+	modem.broadcast(port, "VRScan", ...)
+end
+
+local function move(x, y, z)
+	print("Moving to next chunk with offset " .. x .. "x" .. y .. "x" .. z)
+	AR.moveToPosition(AR.robotPositionX + x, AR.robotPositionY + y, AR.robotPositionZ + z)
+end
+
+while true do
+	local e = {event.pull()}
+	if e[1] == "modem_message" and e[6] == "VRScan" then
+		if e[7] == "scan" then
+			print("Scanning started")
+
+			local width, height, length, radius, minDensity, maxDensity = e[8], e[9], e[10], e[11], e[12], e[13]
+			
+			for h = 1, height do
+				for w = 1, width do
+					for l = 1, length do
+						print("Scanning chunk " .. w .. " x " .. h .. " x " .. l)
+						
+						local result, column = {}
+						for z = -radius, radius do
+							for x = -radius, radius do
+								column = AR.proxies.geolyzer.scan(x, z)
+								for i = 1, #column do
+									if column[i] >= minDensity and column[i] <= maxDensity then
+										table.insert(result, AR.robotPositionX)
+										table.insert(result, AR.robotPositionY)
+										table.insert(result, AR.robotPositionZ)
+										table.insert(result, column[i])
+									end
+								end 
+							end
+						end
+
+						print("Scanning finished. Sending result with size: " .. #result)
+						broadcast("result", AR.robotPositionX, AR.robotPositionY, AR.robotPositionZ, serialization.serialize(result))
+
+						move(0, 0, radius + 1)
+					end
+
+					move(radius + 1, 0, 0)
+				end
+
+				move(0, radius + 1, 0)
+			end
+		end
+	end
+end
diff --git a/Applications/Robot/commander.lua b/Applications/Robot/commander.lua
index fe1a17bf..fc69b148 100644
--- a/Applications/Robot/commander.lua
+++ b/Applications/Robot/commander.lua
@@ -1,8 +1,9 @@
 local AR = require("advancedRobot")
 local args = {...}
 
-if #args < 0 then
-	print("No arguments")
+if #args == 0 then
+	print("Usage:")
+	print("  commander <command string>")
 	return
 end