diff --git a/tesseract_examples/src/basic_cartesian_example.cpp b/tesseract_examples/src/basic_cartesian_example.cpp
index 06b055087e..2af69fc224 100644
--- a/tesseract_examples/src/basic_cartesian_example.cpp
+++ b/tesseract_examples/src/basic_cartesian_example.cpp
@@ -240,15 +240,11 @@ bool BasicCartesianExample::run()
   // Create task
   const std::string task_name = (ifopt_) ? "TrajOptIfoptPipeline" : "TrajOptPipeline";
   TaskComposerNode::UPtr task = factory.createTaskComposerNode(task_name);
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
@@ -256,7 +252,7 @@ bool BasicCartesianExample::run()
   // Solve task
   tesseract_common::Timer stopwatch;
   stopwatch.start();
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   stopwatch.stop();
diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp
index 584665d6e1..1df97d38c5 100644
--- a/tesseract_examples/src/car_seat_example.cpp
+++ b/tesseract_examples/src/car_seat_example.cpp
@@ -298,18 +298,14 @@ bool CarSeatExample::run()
 
     // Create task
     TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");
-    const std::string input_key = task->getInputKeys().front();
     const std::string output_key = task->getOutputKeys().front();
 
-    // Create Task Input Data
-    auto input_data = std::make_unique<TaskComposerDataStorage>();
-    input_data->setData(input_key, program);
-
     // Create Task Composer Problem
     auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+    problem->input_instruction = program;
 
     // Solve task
-    TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+    TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
     future->wait();
 
     if (!future->context->isSuccessful())
@@ -386,18 +382,14 @@ bool CarSeatExample::run()
 
     // Create task
     TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");
-    const std::string input_key = task->getInputKeys().front();
     const std::string output_key = task->getOutputKeys().front();
 
-    // Create Task Input Data
-    auto input_data = std::make_unique<TaskComposerDataStorage>();
-    input_data->setData(input_key, program);
-
     // Create Task Composer Problem
     auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+    problem->input_instruction = program;
 
     // Solve task
-    TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+    TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
     future->wait();
 
     if (!future->context->isSuccessful())
diff --git a/tesseract_examples/src/freespace_hybrid_example.cpp b/tesseract_examples/src/freespace_hybrid_example.cpp
index ef3f261e3a..e6abca19d6 100644
--- a/tesseract_examples/src/freespace_hybrid_example.cpp
+++ b/tesseract_examples/src/freespace_hybrid_example.cpp
@@ -176,18 +176,14 @@ bool FreespaceHybridExample::run()
 
   // Create task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("FreespacePipeline");
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   // Solve task
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   // Plot Process Trajectory
diff --git a/tesseract_examples/src/freespace_ompl_example.cpp b/tesseract_examples/src/freespace_ompl_example.cpp
index 524c9664fd..8cee960567 100644
--- a/tesseract_examples/src/freespace_ompl_example.cpp
+++ b/tesseract_examples/src/freespace_ompl_example.cpp
@@ -176,18 +176,14 @@ bool FreespaceOMPLExample::run()
 
   // Create task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("OMPLPipeline");
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   // Solve task
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   // Plot Process Trajectory
diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
index 308731f015..a22901f3e7 100644
--- a/tesseract_examples/src/glass_upright_example.cpp
+++ b/tesseract_examples/src/glass_upright_example.cpp
@@ -233,15 +233,11 @@ bool GlassUprightExample::run()
   // Create task
   const std::string task_name = (ifopt_) ? "TrajOptIfoptPipeline" : "TrajOptPipeline";
   TaskComposerNode::UPtr task = factory.createTaskComposerNode(task_name);
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
@@ -249,7 +245,7 @@ bool GlassUprightExample::run()
   // Solve process plan
   tesseract_common::Timer stopwatch;
   stopwatch.start();
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   stopwatch.stop();
diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
index f622eb5336..5c19f1af67 100644
--- a/tesseract_examples/src/pick_and_place_example.cpp
+++ b/tesseract_examples/src/pick_and_place_example.cpp
@@ -223,18 +223,14 @@ bool PickAndPlaceExample::run()
 
   // Create task
   TaskComposerNode::UPtr pick_task = factory.createTaskComposerNode("TrajOptPipeline");
-  const std::string pick_input_key = pick_task->getInputKeys().front();
   const std::string pick_output_key = pick_task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto pick_input_data = std::make_unique<TaskComposerDataStorage>();
-  pick_input_data->setData(pick_input_key, pick_program);
-
   // Create Task Composer Problem
   auto pick_problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  pick_problem->input_instruction = pick_program;
 
   // Solve task
-  TaskComposerFuture::UPtr pick_future = executor->run(*pick_task, std::move(pick_problem), std::move(pick_input_data));
+  TaskComposerFuture::UPtr pick_future = executor->run(*pick_task, std::move(pick_problem));
   pick_future->wait();
 
   if (!pick_future->context->isSuccessful())
@@ -344,19 +340,14 @@ bool PickAndPlaceExample::run()
 
   // Create task
   TaskComposerNode::UPtr place_task = factory.createTaskComposerNode("TrajOptPipeline");
-  const std::string place_input_key = pick_task->getInputKeys().front();
   const std::string place_output_key = pick_task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto place_input_data = std::make_unique<TaskComposerDataStorage>();
-  place_input_data->setData(place_input_key, place_program);
-
   // Create Task Composer Problem
   auto place_problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  place_problem->input_instruction = place_program;
 
   // Solve task
-  TaskComposerFuture::UPtr place_future =
-      executor->run(*place_task, std::move(place_problem), std::move(place_input_data));
+  TaskComposerFuture::UPtr place_future = executor->run(*place_task, std::move(place_problem));
   place_future->wait();
 
   if (!place_future->context->isSuccessful())
diff --git a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
index 4452358818..12420f88c2 100644
--- a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
+++ b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
@@ -226,21 +226,17 @@ bool PuzzlePieceAuxillaryAxesExample::run()
 
   // Create task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   if (plotter_ != nullptr)
     plotter_->waitForInput();
 
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   // Solve task
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   // Plot Process Trajectory
diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
index eaa2cda966..56a65f23ed 100644
--- a/tesseract_examples/src/puzzle_piece_example.cpp
+++ b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -218,23 +218,19 @@ bool PuzzlePieceExample::run()
 
   // Create task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");
-  const std::string input_key = task->getInputKeys().front();
   const std::string output_key = task->getOutputKeys().front();
 
-  // Create Task Input Data
-  auto input_data = std::make_unique<TaskComposerDataStorage>();
-  input_data->setData(input_key, program);
-
   if (plotter_ != nullptr)
     plotter_->waitForInput();
 
   // Create Task Composer Problem
   auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, profiles);
+  problem->input_instruction = program;
 
   // Solve task
   tesseract_common::Timer stopwatch;
   stopwatch.start();
-  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem), std::move(input_data));
+  TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
   future->wait();
 
   stopwatch.stop();