Is it possible to use the robot simulation configuration to create the robot programming for irl robot?

Good morning. I'm still learning about the Robot Simulation apps and I'm trying to find a training or a document explaining how to use the in-software configuration to create the robot programming in a real robot. I also want to know what kind of license is necessary to accomplish this. I hope someone could help me with this as I already finished the Partner University DELMIA Robot Simulation Essentials course but didn't find what I'm looking for.

Thanks in advance.