Energy Consumption of Joints

[hajs]

Hey
I am working on my project which is a 7-DOF Manipulator. it is performing pick and place task. I have calculated IK joint angles through csv file and then fed them to the dynamics and made it to perform the same task by following designed trajectory.
My next task is to find the energy consumption of all the seven revolute joints. Please tell how i can calculate energy through the torque of every joint. the torque is same 25 Nm for every joint.
I haven't used rml method. the positions are extracted from IK mode.

Thanks

[coppelia]

I think if you have the torque exerted by a joint (i.e. sim.getJointForce) and the angle it has moved, you can compute the energy it dissipated/accumulated. You'll have to accumulate the energy in each dynamics step, e.g. using a dynamics callback function.

Cheers