You can write anything into a log. You cannot write a joule into existence — spending it is the only way to have spent it. That is what makes energy a candidate for evidence. But evidence needs an expectation to compare against, and here the physics is only partly on your side. For a humanoid arm, a model built from motor and gear-train physics predicts electrical power to about 3.6 watts against a full scale of 122. That is the floor. Work costing less than the floor is inside the residual, and the honest word for it is invisible, not absent. And note what the model is made of: only about a tenth of the electrical power becomes mechanical work. The rest is copper loss and friction, and those coefficients were fitted, not derived.