diff --git a/ihmc-high-level-behaviors/src/libgdx/resources/environments/CinderBlockPallet.json b/ihmc-high-level-behaviors/src/libgdx/resources/environments/CinderBlockPallet.json
index 52fcb505cb8..f1b6fe027bf 100644
--- a/ihmc-high-level-behaviors/src/libgdx/resources/environments/CinderBlockPallet.json
+++ b/ihmc-high-level-behaviors/src/libgdx/resources/environments/CinderBlockPallet.json
@@ -102,56 +102,56 @@
   }, {
     "type" : "RDXPalletObject",
     "x" : 2.4930577278137207,
-    "y" : 0.06989191472530365,
-    "z" : 0.1110124127939346,
-    "qx" : 0.00856238873690151,
+    "y" : 0.06989191472530099,
+    "z" : 0.08732389168723786,
+    "qx" : 0.008562388736901518,
     "qy" : -0.005114153010419687,
-    "qz" : 0.7018977765776746,
-    "qs" : 0.7122078644422724
+    "qz" : 0.7018977765776755,
+    "qs" : 0.7122078644422707
   }, {
     "type" : "RDXPalletObject",
     "x" : 3.513807535171509,
-    "y" : 0.04207326173782348,
-    "z" : 0.1237301762215778,
-    "qx" : 0.7094953522455109,
-    "qy" : 0.7046140939793347,
-    "qz" : 0.0030468615931168426,
-    "qs" : -0.011226768997909059
+    "y" : 0.04207326173781967,
+    "z" : 0.08234225453700866,
+    "qx" : 0.7094654357241527,
+    "qy" : 0.7046729978293471,
+    "qz" : 0.007336564946010361,
+    "qs" : -0.006398160495962346
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 2.8034467697143555,
-    "y" : -0.26781320571899414,
-    "z" : 0.3262125167995693,
-    "qx" : -0.10285762375856672,
-    "qy" : 0.09713503866937312,
-    "qz" : 0.7006268231279272,
-    "qs" : 0.6993619579381686
+    "x" : 2.803446769714356,
+    "y" : -0.26781320571898903,
+    "z" : 0.2791487080525257,
+    "qx" : -0.10285762375856766,
+    "qy" : 0.097135038669374,
+    "qz" : 0.7006268231279288,
+    "qs" : 0.6993619579381668
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 2.6078357696533203,
-    "y" : -0.2656903862953186,
-    "z" : 0.32625531796365964,
-    "qx" : -0.10647845066123686,
-    "qy" : 0.10638572963805844,
-    "qz" : 0.6993553654921224,
-    "qs" : 0.6987463694585758
+    "x" : 2.61168138422286,
+    "y" : -0.2656870360892501,
+    "z" : 0.2783433061531242,
+    "qx" : -0.10647845066123718,
+    "qy" : 0.10638572963805866,
+    "qz" : 0.6993553654921232,
+    "qs" : 0.6987463694585748
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
     "x" : 2.6733238697052,
-    "y" : 0.23532751202583313,
-    "z" : 0.30945813106372944,
+    "y" : 0.2353275120258309,
+    "z" : 0.23830242759757592,
     "qx" : 0.0,
     "qy" : 0.0,
-    "qz" : 0.2976377221605589,
+    "qz" : 0.29763772216055895,
     "qs" : 0.954678891746892
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 2.5680363178253174,
-    "y" : 0.41301260069012646,
-    "z" : 0.3042421745136381,
-    "qx" : -4.259043794782986E-5,
-    "qy" : 1.3876773247399921E-4,
-    "qz" : 0.2934102624957087,
+    "x" : 2.5662500681208926,
+    "y" : 0.389346157233353,
+    "z" : 0.2386235305666895,
+    "qx" : -4.259043794782999E-5,
+    "qy" : 1.387677324739995E-4,
+    "qz" : 0.2934102624957088,
     "qs" : 0.9559866091069321
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
@@ -264,47 +264,47 @@
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
     "x" : 3.216216802597046,
-    "y" : 0.4195704162120819,
-    "z" : 0.3607892571017146,
-    "qx" : 0.09720753880522989,
-    "qy" : 0.09797572562251415,
-    "qz" : -0.6975779785814231,
-    "qs" : 0.7030906167674457
+    "y" : 0.41957041621207125,
+    "z" : 0.2886322178312223,
+    "qx" : 0.09720753880522992,
+    "qy" : 0.09797572562251418,
+    "qz" : -0.6975779785814232,
+    "qs" : 0.7030906167674456
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
     "x" : 3.4069573879241943,
-    "y" : 0.41641926765441895,
-    "z" : 0.3601300859823824,
-    "qx" : 0.10611619192654026,
-    "qy" : 0.09930293387417374,
-    "qz" : -0.6917497248948593,
-    "qs" : 0.7073617173998588
+    "y" : 0.41641926765440784,
+    "z" : 0.288369582091613,
+    "qx" : 0.10611619192654027,
+    "qy" : 0.09930293387417376,
+    "qz" : -0.6917497248948595,
+    "qs" : 0.7073617173998586
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 3.5369553565979004,
-    "y" : -0.34754684567451477,
-    "z" : 0.3093220075592398,
-    "qx" : 0.0,
-    "qy" : 0.0,
-    "qz" : -0.3582957156911485,
-    "qs" : 0.9336081512697754
+    "x" : 3.5393702227098975,
+    "y" : -0.34539638462598843,
+    "z" : 0.22806068928635884,
+    "qx" : -0.0028667441390000164,
+    "qy" : 0.0019384903262589207,
+    "qz" : -0.3583054928379458,
+    "qs" : 0.9335979851282099
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 3.6725926399230957,
-    "y" : -0.20286306738853455,
-    "z" : 0.3029684722423553,
+    "x" : 3.672592639923095,
+    "y" : -0.20286306738852744,
+    "z" : 0.22763386235801902,
     "qx" : 0.0,
     "qy" : 0.0,
-    "qz" : -0.372481463577173,
+    "qz" : -0.37248146357717304,
     "qs" : 0.9280396323926081
   }, {
     "type" : "RDXMediumCinderBlockRoughed",
-    "x" : 3.8084611892700195,
-    "y" : -0.056925807148218155,
-    "z" : 0.30668363943696014,
+    "x" : 3.8095721431824052,
+    "y" : -0.06435738580480432,
+    "z" : 0.22950602759147598,
     "qx" : 0.0,
     "qy" : 0.0,
-    "qz" : -0.3759256660029729,
+    "qz" : -0.37592566600297295,
     "qs" : 0.9266498225544648
   }, {
     "type" : "RDXPointLightObject",
diff --git a/ihmc-high-level-behaviors/src/libgdx/resources/environments/Simple Rough Terrain b/ihmc-high-level-behaviors/src/libgdx/resources/environments/Simple Rough Terrain
new file mode 100644
index 00000000000..f89bb16c72f
--- /dev/null
+++ b/ihmc-high-level-behaviors/src/libgdx/resources/environments/Simple Rough Terrain	
@@ -0,0 +1,220 @@
+{
+  "ambientLight" : 0.01,
+  "objects" : [ {
+    "type" : "RDXLabFloorObject",
+    "x" : 0.0,
+    "y" : 0.0,
+    "z" : 0.0,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
+    "x" : 10.0,
+    "y" : 10.0,
+    "z" : 10.0,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
+    "x" : -10.0,
+    "y" : 10.0,
+    "z" : 10.0,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
+    "x" : -10.0,
+    "y" : -10.0,
+    "z" : 10.0,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
+    "x" : 10.0,
+    "y" : -10.0,
+    "z" : 10.0,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
+    "x" : 1.0261326209306856,
+    "y" : -0.1312642229974892,
+    "z" : 0.04168685751514941,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
+    "x" : 1.0278165108023485,
+    "y" : 0.058344485126049284,
+    "z" : 0.041986173402213625,
+    "qx" : 0.0,
+    "qy" : 0.0,
+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
+    "x" : 1.0254283744607902,
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+    "z" : 0.04057212192335316,
+    "qx" : 0.0,
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+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
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+    "z" : 0.041615879371108555,
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+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
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+    "qs" : 1.0
+  }, {
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+    "y" : 0.43113670704297236,
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+  }, {
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+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
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+    "qz" : 0.0,
+    "qs" : 0.9999950401986769
+  }, {
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+    "qx" : 0.0,
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+    "qs" : 1.0
+  }, {
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+    "x" : 1.429117948670486,
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+    "qx" : 0.0,
+    "qy" : 0.0,
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+    "qs" : 1.0
+  }, {
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+    "x" : 1.889698199172627,
+    "y" : -0.31362771389739263,
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+    "qy" : 0.09261829908698715,
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+    "qs" : 0.9957016589325124
+  }, {
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+    "qy" : 0.09538769007356435,
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+    "qs" : 0.9954401639369861
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+    "qz" : -1.6912157996040733E-5,
+    "qs" : 0.995382795196077
+  }, {
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+    "qz" : -5.628849670202829E-5,
+    "qs" : 0.995260419240821
+  }, {
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+  }, {
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+  }, {
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+    "qz" : 0.6945107854365579,
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+  }, {
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+    "qz" : 0.6971263806041734,
+    "qs" : 0.7108298583222602
+  } ]
+}
\ No newline at end of file
diff --git a/ihmc-high-level-behaviors/src/libgdx/resources/environments/Uneven Terrain 3 Levels b/ihmc-high-level-behaviors/src/libgdx/resources/environments/Uneven Terrain 3 Levels
new file mode 100644
index 00000000000..4745350e88f
--- /dev/null
+++ b/ihmc-high-level-behaviors/src/libgdx/resources/environments/Uneven Terrain 3 Levels	
@@ -0,0 +1,256 @@
+{
+  "ambientLight" : 0.01,
+  "objects" : [ {
+    "type" : "RDXLabFloorObject",
+    "x" : 0.0,
+    "y" : 0.0,
+    "z" : 0.0,
+    "qx" : 0.0,
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+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
+    "x" : 10.0,
+    "y" : 10.0,
+    "z" : 10.0,
+    "qx" : 0.0,
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+    "y" : 10.0,
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+    "qx" : 0.0,
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+    "qz" : 0.0,
+    "qs" : 1.0
+  }, {
+    "type" : "RDXPointLightObject",
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+    "qx" : 0.0,
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+    "qz" : 0.0,
+    "qs" : 1.0
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+    "qz" : 6.93889390390723E-17,
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+    "qs" : 0.7149425490435946
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+    "type" : "RDXSmallCinderBlockRoughed",
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+    "qx" : 0.6955503250719798,
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+    "qz" : -0.0029953814049817817,
+    "qs" : 9.80509505919548E-4
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
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+    "y" : -0.35140658275500114,
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+    "qy" : 0.0,
+    "qz" : -0.7108421321498666,
+    "qs" : 0.7033515928471561
+  }, {
+    "type" : "RDXSmallCinderBlockRoughed",
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+}
\ No newline at end of file
diff --git a/ihmc-high-level-behaviors/src/libgdx/resources/environments/ZZZRoughTerrainOne.json b/ihmc-high-level-behaviors/src/libgdx/resources/environments/ZZZRoughTerrainOne.json
index fdb813bf62b..f89bb16c72f 100644
--- a/ihmc-high-level-behaviors/src/libgdx/resources/environments/ZZZRoughTerrainOne.json
+++ b/ihmc-high-level-behaviors/src/libgdx/resources/environments/ZZZRoughTerrainOne.json
@@ -47,18 +47,18 @@
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@@ -66,71 +66,71 @@
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@@ -138,83 +138,83 @@
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 }
\ No newline at end of file