That’s a pretty niche use case so I can’t be of specific help, but it sounds like a job for Python scripting. Assuming you have the same number of lasers all the time, you can set the animation keyframes on your cylinders to have the correct position/rotation/scale as your data comes in. Keyframe animation should export easily to USDZ for use in AR.
Again I don’t know much about your specific setup but this is the direction I’d look.