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I had the same problem. Error code E04 with a full load of laundry and water in the washer. Unplug the power to the washer. Take off the round cover plate in the front right. Mine did not turn clockwise or counter-clockwise, it was completely stuck. Used two flat tip screwdrivers to carefully pry it away, without damaging anything. The plate is a hard plastic but just pliable enough.
Once removed, you will see the pump (img_0001). Unscrew the pump cover slowly. There will be water coming out, so be prepared. In my case we had a LOT of water, so I drained it gradually into a couple of large garbage bags. Wrap the bag opening tightly against the pump surround to minimize spills (img_0002).
Once all the water is gone, remove the pump cover and clean out any items trapped in the pump and in the drain from the drum (img_0003). In my case it was some loose change and a small ColorCatcher sheet. Reassemble the pump and you're done.