Current developments in the area of user interface (UI) technologies, as well as robotic systems, provide enormous potential to reshape the future of human-robot interaction (HRI) and collaboration. However, the design of reliable, intuitive and comfortable user interfaces is a challenging task.In this work, we try to apply techniques from virtual reality (VR) research to a high-level robot control task, such as pick-and-place of objects. Systems with shared autonomy provide larger flexibility in application and purpose but need additional methods for interaction between human and robot. In this work we try to fill the gap between the operator and the robotic system with intuitive control methods by utilizing a head-mounted display (HMD).