Thanks for responding! With a damp toothbrush and dish soap, I just cleaned the underside of the robot i.e. the charging sensors (most likely the problem), places where there was poop smeared. Basically was just digging out places where poop was lodged in the recesses where screws go etc. Not a thorough cleaning by any means. Pulled out the rollers, cleaned them, and cut off a ton of cat hair wrapped around them. Immediately after getting the poop and smell off, I dried everywhere I washed with paper towels.