1. A robotic system comprising: a tool having a working end, the working end adapted to physically interact with an object; a manipulator coupled to the tool for robotic manipulation of the tool; a camera spatially disposed relative to the tool so that the camera captures an image of the working end of the tool from a perspective of an image reference frame; a display coupled to the camera for displaying the image of the working end of the tool; and a processor programmed to render information of the tool over the image of the working end of the tool which was captured by the camera and is being displayed on the display by: determining a pose of the tool in the image reference frame; registering the information of the tool with a designated place on the working end of the tool in the image reference frame by using the pose of the tool in the image reference frame; and rendering the information of the tool over the designated place on the working end of the tool in the image of the working end of the tool being displayed on the display after registering the information of the tool with the designated place on the working end of the tool, so that the entire information of the tool appears as a decal that is rendered over the working end of the tool in the image of the working end of the tool being displayed on the display by bending the decal to conform in shape and be applied to an outer surface of the tool at the designated place.