Thanks! It took an effort to try to populate the map with anything of worth with limited number of models.
Yeah, i tried to use ray cast, but it wasn't good with non-flat surfaces, so i used boxcast, but i just don't get it, most of the times boxcast wasn't seeing any objects underneath, so i tuned it a little bit too hard. You are flying probably because of some bug with flying platforms parenting Pepper. Maybe it would be better if i would just cast two rays from legs.