diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
index 605e494614..20f6ee2ff5 100644
--- a/tesseract_examples/src/pick_and_place_example.cpp
+++ b/tesseract_examples/src/pick_and_place_example.cpp
@@ -381,7 +381,7 @@ bool PickAndPlaceExample::run()
   place_program.print("Program: ");
 
   // Create task
-  TaskComposerNode::UPtr place_task = factory.createTaskComposerNode("TrajOptPipeline");
+  TaskComposerNode::UPtr place_task = factory.createTaskComposerNode(task_name);
   const std::string place_output_key = pick_task->getOutputKeys().front();
 
   // Create Task Composer Problem
diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
index 69e754f590..a267133d30 100644
--- a/tesseract_examples/src/puzzle_piece_example.cpp
+++ b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -128,7 +128,7 @@ PuzzlePieceExample::makePuzzleToolPoses(const tesseract_common::ResourceLocator:
 PuzzlePieceExample::PuzzlePieceExample(tesseract_environment::Environment::Ptr env,
                                        tesseract_visualization::Visualization::Ptr plotter,
                                        bool ifopt)
-  : Example(std::move(env), std::move(plotter))
+  : Example(std::move(env), std::move(plotter)), ifopt_(ifopt)
 {
 }