While Planning with Approximated Constraint Manifolds, it still takes time(~10s) to compute constraints path

edit

I'm using Planning with Constraints Manifold to add Orientation Constraints to
keep grasped objects upright.

To generate database, the following parameters, written in constraints.yaml file used:

  name: path_constraints
  constraints:
  - type: orientation
    frame_id: base
    link_name: right_hand
    orientation: [1.5707963, 0, 1.57079632] #RPY
    tolerances: [0.4, 6.28318531, 0.4]
    weight: 0.8

The database seems to be successfully generated. While loading it in Moveit!, the following output received:

[ INFO] [1623860951.925316018]: Initializing OMPL interface using ROS parameters
[ INFO] [1623860951.967107499]: Loading constrained space approximations from '/home/artemii/sawyer_ws/src/sawyer_vending/sawyer_moveit_config/constraint_approximations_database/'...
[ INFO] [1623860951.967148969]: Loading constraint approximation of type 'JointModel' for group 'right_arm' from 'right_arm_2021-06-16T16:22:43.820172.ompldb'...
[ INFO] [1623860951.971008453]: Loaded 10119 states (10000 milestones) and 38 connections (0.0 per state) for constraint named 'path_constraints'. Explicit motions included.
[ INFO] [1623860951.971034737]: Done loading constrained space approximations.
[ INFO] [1623860951.971114476]: right_arm
JointModel
1
10000
right_arm_2021-06-16T16:22:43.820172.ompldb
name: path_constraints
joint_constraints[]
position_constraints[]
orientation_constraints[]
  orientation_constraints[0]: 
    header: 
      seq: 0
      stamp: 0.000000000
      frame_id: base
    orientation: 
      x: 0.5
      y: 0.5
      z: 0.5
      w: 0.5
        link_name: right_hand
        absolute_x_axis_tolerance: 0.4
        absolute_y_axis_tolerance: 6.28319
        absolute_z_axis_tolerance: 0.4
        weight: 0.8
    visibility_constraints[]

Yet, Constraints Planning takes quite a lot of time, and I have no idea how to debug/visualize it.
Param enforce_joint_model_state_space is already set to true.

Also, I'm using right_hand link to calculate constraints, since there's an issue with Schunk gripper's links, created automatically from InteraSDK! (see the image).

For more info, attaching generate_state_database.launch console output and
Moveit! Contraints console output.

Best Regards,
Artemii