1. A method, performed by a robotic device, the method comprising: receiving, at the robotic device, a plurality of commands, wherein each respective command of the plurality of commands is associated with a respective time of execution; determining, for each of the plurality of commands, at least one constraint of a plurality of constraints for the robotic device; for each respective command, determining the respective time of execution based on a satisfaction of the at least one constraint of the plurality of constraints associated with the respective command; providing, to at least one computing device, the plurality of commands; receiving, from the at least one computing device, results of performed simulations of the plurality of commands; determining a prioritization of execution of the plurality of commands based on the respective times of execution, the results of the performed simulations, and an environment where the respective commands are to be executed; and executing, by the robotic device, at least one command of the plurality of commands based on the prioritization of execution.