about orientation constrain planning

[Dingran12]

Hello, I want to use the orientation constraints with the moveit task constructor, it works well with Moveit+ ROS melodic+Ubuntu 18.04. But with Moveit2+ ROS Humble+ Ubuntu 22.04, it planned for a long time, even planned failed many times. We have tried these several cases with moveit2 version:

panda robot------------works well panda robot + orientation constraints applied for the connect stage--------------planned for a long time our own Nachi robot (with ik_fast solver ) ----------works well our own Nachi robot (with ik_fast solver )+ orientation constraints applied for the connect stage/moveto stage -----------planned for a long time or failed. I used the mtc orientation constraint in this way, but it does't work, you can find the planning time is very long. I have also tried this constraint in Moveit+ ROS melodic+Ubuntu 18.04, it planned quickly and the planned path is good. I wonder if there is something wrong with my usage or if this function needs to be improved? Thanks very much!