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Related to this question about whether droids feel pain, I'd like to ask the inverse.

In Star Wars, especially the prequel trilogy we see droids kills, maim or hurt people. In one case even meet this charming, torturous fellow:

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Are there any cases of droids being aware of their actions in harming others? Do any feel remorse for this?

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Yes droids do purposely inflict pain

Droids are definitely aware of this fact, multiple times we see R2D2 use his taser for nefarious purposes.

Not really a Force Awakens spoiler but I'll tag it anyway:

In The Force Awakens we see BB-8 tase Finn to purposely inflict pain.

Yes droids can feel remorse

In Attack of the Clones 3PO has his head and body separated, his head ends up attached to a battle droid. During this escapade he ends up shooting at a Jedi, after doing so he quickly follows with this line:

Oh dear, I'm terribly sorry about all this.

He's apologising for his actions as a battle droid this, in my opinion, shows him feeling remorse for his actions.

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    “He's apologising for his actions as a battle droid this, in my opinion, shows him feeling remorse” — of course, it’s possible that apologising is merely the correct protocol in that situation. – Paul D. Waite Dec 17 '15 at 4:20
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R2-D2 obviously knows when he’s causing pain since he uses his taser on retreating Ewoks in Return of the Jedi. Warning: Link contains NSFW language!

Note that the Ewok was retreating and R2 had already been freed.

In Legends canon, there were even droids made to kill -- and designed to relish it.

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