Step1: Turn off the power of the robot

First find the power box of the Kuka IIWA at the back of the lab

Then turn it off.

Step 2: Wait until the power box is silent

This is extremely important! It could take several minutes.

Step 3: Turn on the robot again

Step 4: Go back to the orange control panel and wait until it starts properly

Kill the roscore program and the IIWA node, and restart everything again. Now go back to This tute and run through the process again.