Scene Dump Creation

Hi,
I needed some help with creating scene dumps like the ones provided to us in the [Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning](https://arxiv.org/abs/1609.05143) paper. Is there some code which I can use to create the scene dumps? I will need the agent to move around and collect data and make scene dumps at every location. And hence I would need a script to move the robot around autonomously too I guess. So is there some script to do both these tasks?
Thanks.....