diff --git a/.clang-format b/.clang-format
index ee5cc2929cd..1860526f5f2 100644
--- a/.clang-format
+++ b/.clang-format
@@ -52,16 +52,17 @@ UseTab: Never
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true',
-    AfterControlStatement: 'true',
-    AfterEnum : 'true',
-    AfterFunction : 'true',
-    AfterNamespace : 'true',
-    AfterStruct : 'true',
-    AfterUnion : 'true',
-    BeforeCatch : 'true',
-    BeforeElse : 'true',
-    IndentBraces : 'false',
-}
+BraceWrapping:
+    AfterCaseLabel : 'true'
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+
 ...
diff --git a/.github/workflows/clang_format.yml b/.github/workflows/clang_format.yml
index 089a88125fc..4a11112d563 100644
--- a/.github/workflows/clang_format.yml
+++ b/.github/workflows/clang_format.yml
@@ -15,16 +15,17 @@ on:
 
 jobs:
   clang_format:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v1
 
       - name: Run clang format
         run: |
           sudo apt update
-          sudo apt install -y git clang-format-8
+          sudo apt install -y git clang-format-12
           if [ $? -ge 1 ]; then return 1; fi
           ./.run-clang-format
           if [ $? -ge 1 ]; then return 1; fi
           output=$(git diff)
+          echo $output
           if [ -n "$output" ]; then exit 1; else exit 0; fi
diff --git a/.github/workflows/cmake_format.yml b/.github/workflows/cmake_format.yml
index 501fbcbdf12..e2167fb9c89 100644
--- a/.github/workflows/cmake_format.yml
+++ b/.github/workflows/cmake_format.yml
@@ -8,8 +8,8 @@ on:
   pull_request:
     paths:
       - 'tesseract**'
-      - '.github/workflows/clang_format.yml'
-      - '**clang-format'
+      - '.github/workflows/cmake_format.yml'
+      - '**cmake-format'
   schedule:
     - cron: '0 5 * * *'
 
diff --git a/.run-clang-format b/.run-clang-format
index 47ce0c0406d..68fc043dc6b 100755
--- a/.run-clang-format
+++ b/.run-clang-format
@@ -1,2 +1,2 @@
 #!/bin/bash
-find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;
+find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-12 -style=file -i {} \;
diff --git a/tesseract_common/include/tesseract_common/joint_state.h b/tesseract_common/include/tesseract_common/joint_state.h
index be93f2bf715..9b49981140e 100644
--- a/tesseract_common/include/tesseract_common/joint_state.h
+++ b/tesseract_common/include/tesseract_common/joint_state.h
@@ -29,6 +29,8 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/version.hpp>
+#include <boost/uuid/uuid.hpp>
 #include <Eigen/Core>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
@@ -81,6 +83,7 @@ class JointTrajectory
   JointTrajectory(std::string description = "");
   JointTrajectory(std::vector<JointState> states, std::string description = "");
 
+  boost::uuids::uuid uuid{};
   std::vector<JointState> states;
   std::string description;
 
diff --git a/tesseract_common/src/joint_state.cpp b/tesseract_common/src/joint_state.cpp
index 4d450392291..6cc6b7812ec 100644
--- a/tesseract_common/src/joint_state.cpp
+++ b/tesseract_common/src/joint_state.cpp
@@ -29,6 +29,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/string.hpp>
 #include <boost/serialization/vector.hpp>
+#include <boost/uuid/uuid_io.hpp>
+#include <boost/uuid/uuid_serialize.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/utils.h>
@@ -77,6 +79,7 @@ JointTrajectory::JointTrajectory(std::vector<JointState> states, std::string des
 bool JointTrajectory::operator==(const JointTrajectory& other) const
 {
   bool ret_val = true;
+  ret_val &= (uuid == other.uuid);
   ret_val &= (description == other.description);
   ret_val &= (states == other.states);
   return ret_val;
@@ -172,6 +175,7 @@ void JointTrajectory::swap(std::vector<value_type>& other) { states.swap(other);
 template <class Archive>
 void JointTrajectory::serialize(Archive& ar, const unsigned int version)  // NOLINT
 {
+  ar& BOOST_SERIALIZATION_NVP(uuid);
   ar& BOOST_SERIALIZATION_NVP(states);
   ar& BOOST_SERIALIZATION_NVP(description);
 }