1. A system for robot supervisory control, the system comprising: an operator device, the operator device having one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of: receiving camera imagery from a camera mounted on a robot, the camera generating camera imagery from a scene in front of the robot, the scene having one or more objects therein; receiving three-dimensional (3D) data from a sensor mounted on the robot; displaying a user interface that includes a two-dimensional (2D) view of the scene from the camera and 3D data from the sensor; overlaying one or more object markers of objects in the scene on the 2D view or 3D data; receiving a selected action from an operator regarding objects in the scene and generating a simulation of the robot performing the selected action; and rendering the simulation overlaid on top of the 3D data.