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Joint 4 over-heating looks related to NiryoOne V2 Dynamixel xl430-w250 not reaching goal position
As noted Dynamixels at J4 & J5 do not achieve target position. It appears the motors may be expending extra energy without moving the joints.
With motor torque “ON” (not in learn mode) J4 warms to 65 Celsius in an air conditioned office; even when no movement is requested.
When joint position equals target (for example: Setting target to zero and forcing joint to be 0.000) J4 runs at 43 Celsius; even at 12V supply.