In an increasingly competitive context, innovation has become an essential factor of success. However, implementing new projects requires complex skills and resources. 4D-VIRTUALIZ offers 4DV-SIM, a 3D real-time and Hardware-In-the-Loop simulation framework for the generation of contextualized sensor data in off-road environments. Its tools are used for the development and testing of perception and control algorithms used by mobile robotic systems such as: Mobile robot, vehicles, UAVs. 4DV-SIM accelerates, facilitates these developments and ensures success during operational operation on real hardware.