RSVP (Robot Sequencing and Visualization Platform) is the primary tool used to operate Mars 2020's Perseverance rover. The RSVP tool suite includes tools such as ArmSketch and MobSketch, which automatically generate robot command sequences. Another tool in the suite is SSim (Surface Simulation), which uses flight software to predict the rover’s response to commands in a simulated reconstruction of the Martian environment.
See this video for more details.