Underwater robotic manipulation relies on visual feedback and experience, making precision challenging, especially in underwater cultural heritage (UCH). Errors in distance estimation risk collisions or improper grasping, endangering fragile artifacts. To overcome these challenges, operators should be equipped with advanced tools and sensors that enhance their perception and interaction, enabling more precise and controlled manipulation in complex underwater environments. To this end, the paper introduces a novel framework designed to improve environmental perception during underwater manipulation operations by integrating stereo vision and acoustic imaging sensors. Unlike traditional approaches, the proposed framework is applicable in both simulated and real-world environments, providing a versatile tool for underwater robotic applications. The core of the proposed framework consists of a simulation environment built on Unity and ROS2, replicating a system that includes a Remotely Operated Vehicle (ROV) equipped with a robotic manipulator, a stereo camera, and a forward-looking sonar. Preliminary results on stereovision and acoustic imaging simulations demonstrate how the integration of these sensing modalities improves environmental perception.