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It depends. The PS3, and Wii have emulators that allow them to play games from past systems. You can also use an emulator on the PC to play a game right off the disc. Say Dolphin for the PC, a great Wii emulator, you can put a Wii disc in the PC and play it. I wouldn't consider these piracy.

On the other hand though if you were to download an emulator which is perfectly legal, and then were to download a ROM, then yes, I do believe that is considered piracy.