Description

Maximum sample density while generating ACM is too low for multi-arm configurations.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04
• Binary: 1.1.13-2focal.20231013.200622

Steps to reproduce

Create a multi-arm configuration using moveit_setup_wizard and use the maximum sample density in the "Self-Collisions" section.

Expected behaviour

The setup wizard should generate a reliable ACM.

Actual behaviour

There are "disable_collisions" entries in SRDF for some links that can actually easily collide with each other. For example in a two-arm example, arm-1's last links can collide with arm-2's last links.

Possible Solution

Replacing the label GUI item showing the number of samples with a textbox to remove the hardcoded upper limit would be a nice solution. Also, I was able to overcome this problem by increasing the hardcoded upper limit in the code. However, this increased the computation time significantly. So, in the case of the upper limit being set by the user, it may be also good to have an interrupt button.