sudo robotctl robot relax

sudo robotctl robot relax --yes

Cuts joint power. The robot collapses if nothing is holding it — which is why it wants --yes.

It is the only way back to limp short of pulling the plug.

Three ways to stop, which are not the same

Getting this wrong drops the robot:

Action	Result
robot relax --yes	Power cut, robot collapses
Press Start again	Policy stops, robot keeps standing
robot.stop	Velocity zeroed, robot keeps standing

To stop it while it stays up, use the latter two.

The console’s stop button is not an emergency stop

Worth clearing up: the web console’s stop only zeroes the intents the page is sending. Nothing in this system cuts servo power from a browser, and the button is a plain one for that reason.