Moveit re-planning is not ideal and how to optimized it the replanning?

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Hi

Im using the ROS Kinetic and the implemented Moveit path planner. I didn't optimize or done any modifications in the path planning but during the path execution when there is a collision either it crashes with this output

Found a contact between 'BOX_' (type 'Object') and 'crane_load1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
    [ INFO] [1622704587.709572873]: Collision checking is considered complete (collision was found and 0 contacts are stored)
    [ INFO] [1622704587.709588181]: Stopping execution because the path to execute became invalid(probably the environment changed)
    [ INFO] [1622704587.789503601]: Fake trajectory execution cancelled
    [ INFO] [1622704587.789549472]: Completed trajectory execution with status PREEMPTED ...
    [ INFO] [1622704587.789630407]: Stopped trajectory execution.
    [ INFO] [1622704587.835722177]: Waiting for a 2.000000 seconds before attempting a new plan ...
    [ INFO] [1622704589.835844057]: Done waiting
    [ INFO] [1622704589.841260144]: ABORTED: Solution found but the environment changed during execution and the path was aborted

Or when do replanning the path is not the optimal one cause it just goes back all the way and then do it again. I mean it not the minimal trajectory that is found. Any help how to solve this problem and hot to optimized the replanning so when there is an obstacle while executing the path planner it doesn't crash and when replanning that its the optimal trajectory

Thanks