 Kant’s views in this regard have understandably been the subject of much controversy. Many object that we do not think better of actions done for the sake of duty than actions performed out of emotional concern or sympathy for others, especially those things we do for friends and family. Worse, moral worth appears to require not only that one’s actions be motivated by duty, but also that no other motives, even love or friendship, cooperate. Yet Kant’s defenders have argued that his point is not that we do not admire or praise motivating concerns other than duty, only that from the point of view of someone deliberating about what to do, these concerns are not decisive in the way that considerations of moral duty are. What is crucial in actions that express a good will is that in conforming to duty a perfectly virtuous person always would, and so ideally we should, recognize and be moved by the thought that our conformity is morally obligatory. The motivational structure of the agent should be arranged so that she always treats considerations of duty as sufficient reasons for conforming to those requirements. In other words, we should have a firm commitment not to perform an action if it is morally forbidden and to perform an action if it is morally required. Having a good will, in this sense, is compatible with having feelings and emotions of various kinds, and even with aiming to cultivate some of them in order to counteract desires and inclinations that tempt us to immorality. Controversy persists, however, about whether Kant’s claims about the motive of duty go beyond this basic point (Timmermann 2007; Herman 1993; Wood 1998; Baron 1995).