It actually always has the cameras on even in gentle contact. It uses them (or is supposed to) use them to detect objects and slow down (hence the gentle) before contacting them. It used to use the ultrasonics for this, but they are currently disabled pending a new firmware to eliminate some false positives.
I realize you don’t think it’s a hardware issue and it didn’t reoccur, but I believe it either inadvertently was plotting stuff it was detecting with the cameras (and just ignoring it) or it was thinking (and not actually) it was having track slippage. If it is something with the IMU, then a reboot will probably clear that behavior. There is a known issue that I think was possibly solved in the latest firmware with the IMU, but possibly there is still an edge case or two out there. It probably couldn’t hurt to open a ticket and report the time and include the screenshots you have so they can pull the logs and see what the issue was.
