Abstract: The disclosed technology provides solutions for generating synthetic 3D environments, In some aspects, the disclosed technology includes a process of synthetic environment generation that includes steps for collecting sensor data corresponding with a three-dimensional (3D) space, generating a 3D mesh based on the sensor data, and generating one or more synthetic 3D objects based on the 3D mesh and the sensor data. In some aspects, the process can further include steps for generating a 3D synthetic environment comprising the one or more synthetic 3D objects, wherein the 3D synthetic environment is generated based on the 3D mesh. Systems and machine-readable media are also provided.