iLife V7S Pro 4 year long-term review Pt 2: teardown, repairing a 'scared robot' problem 

If you have a similar robot vacuum (it has the yellow brush underneath) and it's acting like it's always bumped into something, or afraid to go forward, the yellow brush might be too hard to turn, making the robot think it's stuck on something.
Here's how to take it apart. Also my troubleshooting journey.