R&D. Definitely not a production environment, which I get. We get some requirements and go from there. Creating a simulator is a necessity because often times the mechanical and electrical team are still building the system and I don’t even have one to work with. I simulate what the machine will do and write the motion controls and automation, and usually most everything else while I’m waiting. By time I get a working prototype, I usually can just plug and play and run on the real thing. Out of curiosity, why would you fired for being able to adjust the process with autonomy? For my last major project, it has to do that. It needs to make decisions on the fly, because the process is never the same every time. I guess if it’s welding frames on a car that would make sense. These systems aren’t your average single robot arm system, though I do use those sometimes. Even in those case, I’ve been required to give the system decision making capabilities. Neither the customer, nor the technicians that install and work with the systems, ever get their hands on the simulators. That usually resides in the source code.