A computer-implemented method comprising: receiving 3D scene data (312, 2800, 3000) at a computer-based three dimensional, 3D, virtualization environment, the 3D scene data (312, 2800, 3000) including objects (604, 606, 2802, 2804, 2806, 2808) having vertices, normals, and attributes; for a plurality of the objects (604, 606, 2802, 2804, 2806, 2808) of the 3D scene data (312, 2800, 3000), computing, by the 3D virtualization environment, reflectivity information in a frequency range or a wavelength range for at least one of a virtual radar sensor (326, 2810), a virtual lidar sensor, or a virtual sonar sensor, based on the vertices, normals, and attributes of the plurality of objects (604, 606, 2802, 2804, 2806, 2808) and a plurality of values for parameters of the at least one the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor; for the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor, computing, by the 3D virtualization environment, at least one of radar range and radar amplitude, a point cloud of lidar range and lidar reflectance, or sonar range and sonar reflectance, based on the reflectivity information; transmitting the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance from the 3D virtualization environment to a modeling environment that includes a simulation model of a controller; and processing the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, and/or the sonar range and the sonar reflectance by the simulation model of the controller to produce commands, wherein the parameters include a field of view, FOV, of the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor, the plurality of the objects (604, 606, 2802, 2804, 2806, 2808) are within the FOV, and characterised in that the computing reflectivity information for the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor includes: pre-distorting, by the 3D virtualization environment, the vertices of the plurality of the objects (604, 606, 2802, 2804, 2806, 2808) based on a spherical projection (700, 2816). receiving 3D scene data (312, 2800, 3000) at a computer-based three dimensional, 3D, virtualization environment, the 3D scene data (312, 2800, 3000) including objects (604, 606, 2802, 2804, 2806, 2808) having vertices, normals, and attributes; for a plurality of the objects (604, 606, 2802, 2804, 2806, 2808) of the 3D scene data (312, 2800, 3000), computing, by the 3D virtualization environment, reflectivity information in a frequency range or a wavelength range for at least one of a virtual radar sensor (326, 2810), a virtual lidar sensor, or a virtual sonar sensor, based on the vertices, normals, and attributes of the plurality of objects (604, 606, 2802, 2804, 2806, 2808) and a plurality of values for parameters of the at least one the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor; for the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor, computing, by the 3D virtualization environment, at least one of radar range and radar amplitude, a point cloud of lidar range and lidar reflectance, or sonar range and sonar reflectance, based on the reflectivity information; transmitting the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance from the 3D virtualization environment to a modeling environment that includes a simulation model of a controller; and processing the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, and/or the sonar range and the sonar reflectance by the simulation model of the controller to produce commands, wherein the parameters include a field of view, FOV, of the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor, the plurality of the objects (604, 606, 2802, 2804, 2806, 2808) are within the FOV, and characterised in that the computing reflectivity information for the at least one of the virtual radar sensor (326, 2810), the virtual lidar sensor, or the virtual sonar sensor includes: pre-distorting, by the 3D virtualization environment, the vertices of the plurality of the objects (604, 606, 2802, 2804, 2806, 2808) based on a spherical projection (700, 2816).