Interface error in moveit_task_constructor PNP demo

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I am trying to run the MTC pick and place demo (in github), with a manipulator and gripper I have available. I tested that giving it tasked positions work, ie. "move x+0.2", "move to goal state". But now, running the pick and place demo, I get error message like this:

[ERROR] [1610612991.896428293, 1114.722000000]: Initialization failed: Error initializing stages:
grasp pose IK: interface of 'generate grasp pose' (??? ???) does not match external one (??? ???).
allow collision (hand,object): cannot initialize to unknown interface
close hand: cannot initialize to unknown interface
attach object: cannot initialize to unknown interface
allow collision (object,support): cannot initialize to unknown interface
lift object: cannot initialize to unknown interface
forbid collision (object,surface): cannot initialize to unknown interface
pnp_task: cannot connect end interface of 'pick object' (?) to start interface of 'move to place' (???)

What could be causing this?