Moveit path is not executed even though solution found (too many states) in Webots

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I integrated moveit in a webots environment with a UR. For that I installed the ros2 UR drivers. Everything starts without an error, and I tested it by manually dragging the end effector of the UR to random valid positions, and for some of them it works.

However, for some others, either it does find a solution and it doesn't move, either it cannot find a trajectory to the goal, either the solution is so computationally expensive that is not executed.

I tried the same position with the real robot (or using the use_fake_hardware of the UR drivers), and the robot finds a solution and executes, for this goal. So there must be something wrong with the connection with Webots.

I use ROS2 Foxy and Webots2022 with the ROS2 UR drivers (foxy). Any idea where I may be wrong? Or where I should search for a solution? Or someone that had similar case (integrating moveit in UR in webots) that may help?

The terminal looks like this (for each waypoint, it finds 150+ states which may be computationally expensive. is this normal?):

[move_group-1] [INFO] [1662472286.382194673] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1662472286.382257541] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1662472286.682515286] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1662472293.788990135] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-1] Check clock synchronization if your are running ROS across multiple machines!
[move_group-1] [WARN] [1662472293.789042770] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-1] [INFO] [1662472293.789123110] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1662472293.789279686] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1662472293.789291751] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1662472293.793567373] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1662472293.795332526] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - ur_manipulator/ur_manipulator: Starting planning with 1 states already in datastructure
[move_group-1] [INFO] [1662472293.795377402] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - ur_manipulator/ur_manipulator: Starting planning with 1 states already in datastructure
[move_group-1] [INFO] [1662472293.795417088] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - ur_manipulator/ur_manipulator: Starting planning with 1 states already in datastructure
[move_group-1] [INFO] [1662472293.795721994] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - ur_manipulator/ur_manipulator: Starting planning with 1 states already in datastructure
[move_group-1] [INFO] [1662472298.794576553] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - ur_manipulator/ur_manipulator: Created 196 states (100 start + 96 goal)
[move_group-1] [INFO] [1662472298.794629630] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/ProblemDefinition.cpp:437 - ProblemDefinition: Adding approximate solution from planner ur_manipulator/ur_manipulator
[move_group-1] [INFO] [1662472298.802329254] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1 ...