The advancement of autonomous and semi-autonomous underwater vehicles enables intelligent and sustainable operations, addressing the increasing demands for underwater monitoring and management while supporting responsible resource use and environmental conservation. Among these technologies, Hybrid Remotely Operated underwater Vehicles stand out for their ability to combine manual control with autonomous task execution. This paper presents a novel simulation framework specifically designed for this type of watercraft. The platform employs a modular architecture that replicates not only the physical dynamics of the vehicle and its environment but also the behaviour of onboard sensors and control hardware. This versatile tool advances autonomous underwater operations, notably reducing the costs associated with experimental testing. Ultimately, it contributes to an efficient and sustainable industrialization for the exploitation of underwater natural resources.