A configuration system uses multiple depth cameras to create a volumetric capture space around an electronically controllable industrial machine or system, referred to as a target system. The output of the cameras is processed to create a live 3D model of everything within the space. A remote operator can then navigate within this 3D model, for example from a desktop application, in order to view the target system from various perspectives in a live 3D telepresence. In addition to the live 3D model, a configuration system generates a 3D user interface for programming and configuring machines or target systems within the space in a spatially coherent way. Local operators can interact with the target system using mobile phones which track the target system in augmented reality. Any number of local operators can interact with a remote operator to simultaneously program and configure the target system.