Getting WARN : Computed trajectory is too short to detect jumps in joint-space while planning using MTC

edit

I'm trying to pick and place two objects one after another similar to what done here in the demo. I'm getting below warning while running the same. The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 7. Try a lower max_step.

Also, there is no successful planning solution is found for the "move to pick" stage for the second object. All other planning stage has successfully found the solution. You may see full code here. As I'm unable to upload the screenshots here you may see same on Github Issue here. Any help will be highly appreciated.