I was frustrated because I couldn't find the last hidden treasure in "Relics of the Past", so I fooled around with the last puzzle.(Where you have to turn the models of the platform and press the button to turn the real platforms) Eventually, I got a configuration which let me stand in the lava below. I had to restart the stage, but I forgot to look at the configuration of the platforms. Now, I cannot recreate the glitch.

When standing in the lava, either the power crystal was next to me, or I still had the crystal. (can't remember) It is possible that dropping the crystal initiated the glitch.

So I've tried all combinations of platform positioning and crystal dropping but I can't get it to work again.

I did it again!

The pattern is:

First one facing left. (allowing you to get up the ramp)

Middle one horizontal. (letting you walk across it)

Last one facing left. (like the first)

The crystal is irrelevant.

However, I have not been able to do it a third time, because I do not know exactly how to activate the glitch. I'll try again tomorrow.