diff --git a/script/devices/RobotBernina.py b/script/devices/RobotBernina.py
index 5c14f90..a359071 100644
--- a/script/devices/RobotBernina.py
+++ b/script/devices/RobotBernina.py
@@ -134,6 +134,20 @@ class RobotBernina(RobotTCP):
                 print("Point is not in range")
         return reachable
 
+    def simulate_stored_commands(self):
+        if self.last_remote_motion == "None":
+            ret = None
+        elif self.last_remote_motion == "cartesian":
+            target = self.cartesian_motors["x"].target_pos
+            ret = move_cartesian(simulate = True, **target)
+        elif self.last_remote_motion == "spherical":
+            target = self.spherical_motors["r"].target_pos
+            ret = move_spherical(simulate = True, **target)
+        elif self.last_remote_motion == "joint":
+            target = self.joint_motors["j1"].target_pos
+            ret = self.move_joint(simulate = True, **target)
+        return ret
+
     def move_cartesian(self, x=None, y=None, z=None, rx=None, ry=None, rz=None, tool=None, frame=None, desc=None, sync=False, simulate=False, coordinates="joint"):
         """
         Motion in the cartesian coordinate system using a linear motion movel command to 
@@ -280,9 +294,18 @@ class RobotBernina(RobotTCP):
         for k, v in target_jnt.items():
             if v == None:
                 target_jnt[k] = current_jnt[k]
-        self.set_jnt([target_jnt[k] for k in ["j1", "j2", "j3", "j4", "j5", "j6"]], name="tcp_j")
-        self.set_motion_queue_empty(False)
-        self.movej("tcp_j", tool , desc)   
+        if simulate:
+            sim = []
+            cur_joint = [current_jnt[k] for k in ["j1", "j2", "j3", "j4", "j5", "j6"]]
+            delta_joint = [target_jnt[k]-current_jnt[k] for k in ["j1", "j2", "j3", "j4", "j5", "j6"]]
+            for i in range(11):
+                sim.append([j0+dj*i/10 for j0, dj in zip(cur_joint, delta_joint)])
+        else:
+            self.set_jnt([target_jnt[k] for k in ["j1", "j2", "j3", "j4", "j5", "j6"]], name="tcp_j")
+            self.set_motion_queue_empty(False)
+            self.movej("tcp_j", tool , desc)   
+        if simulate:
+            return sim
 
     def move_home(self):
         if not self.is_in_point(P_HOME):