Kubric is an open-source Python framework that interfaces with PyBullet and Blender to generate photo-realistic scenes, with rich annotations, and seamlessly scales to large jobs distributed over thousands of machines, and generating TBs of data. Kubric can generate semi-realistic synthetic multi-object videos with rich annotations such as instance segmentation masks, depth maps, and optical flow.

You can find the paper here, or access the source code from github.