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Wikipedia definition: Empathy is the capacity to understand or feel what another person is experiencing from within their frame of reference, i.e., the capacity to place oneself in another's position.

The question is, if they understood the pain they were inflicting would they still inflict it?

Their goal is to create that kind of pain that they feel and understand very good in an other living being..if they didn't understand what they were doing it would be hard to understand why they don't waste their time on something else..

Or maybe they feel pleasure from causing pain?

i know what you mean, but how can you feel pleasure from something if you don't understand the opposite from it.you can only define good when there is a bad..