How to apply convex polygon constraints to the robot's feet at a specific location on the map

[nanbwrn]

Could you please advise me on which part of the code I need to modify if I want the feet of the quadruped robot to step in the middle of the steel mesh grids instead of on the steel bars?

As shown in the figure below:

Should I modify the code in the convex_plane_decomposition folder? Currently, the plane segmentation areas established by the code are all at the intersections of the steel bars, which constraints the feet to step on the steel bars and causes the robot to fall.

If I want the robot to step in the gaps between the bars to ensure it doesn't fall, which part of the code should I modify?

I have already tried adjusting the resolution of the elevation map, but it did not solve the problem.

Thank you very much for your help!