diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_core_plugin_factories.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_core_plugin_factories.cpp
index b8a805ee7d..f9734326fa 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_core_plugin_factories.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_core_plugin_factories.cpp
@@ -65,14 +65,13 @@ TESSERACT_PLUGIN_ANCHOR_IMPL(TaskComposerPlanningFactoriesAnchor)
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::CheckInputTaskFactory, CheckInputTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::ContinuousContactCheckTaskFactory,
-                                        ContinuousContactCheckTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::ContinuousContactCheckTaskFactory, ContinuousContactCheckTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DiscreteContactCheckTaskFactory,
-                                        DiscreteContactCheckTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DiscreteContactCheckTaskFactory, DiscreteContactCheckTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::FixStateBoundsTaskFactory, FixStateBoundsTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
@@ -84,15 +83,13 @@ TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::MinLengthTaskFactory
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::ProfileSwitchTaskFactory, ProfileSwitchTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::UpsampleTrajectoryTaskFactory,
-                                        UpsampleTrajectoryTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::UpsampleTrajectoryTaskFactory, UpsampleTrajectoryTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::RasterMotionTaskFactory, RasterMotionTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::RasterOnlyMotionTaskFactory, RasterOnlyMotionTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::SimpleMotionPlannerTaskFactory,
-                                        SimpleMotionPlannerTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::SimpleMotionPlannerTaskFactory, SimpleMotionPlannerTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::ProcessPlanningInputTaskFactory,
-                                        ProcessPlanningInputTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::ProcessPlanningInputTaskFactory, ProcessPlanningInputTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_descartes_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_descartes_plugin_factory.cpp
index 9383425f40..d202e118c8 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_descartes_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_descartes_plugin_factory.cpp
@@ -37,9 +37,9 @@ using DescartesDMotionPlannerTaskFactory = TaskComposerTaskFactory<MotionPlanner
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DescartesFMotionPlannerTaskFactory,
-                                        DescartesFMotionPlannerTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DescartesFMotionPlannerTaskFactory, DescartesFMotionPlannerTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DescartesDMotionPlannerTaskFactory,
-                                        DescartesDMotionPlannerTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DescartesDMotionPlannerTaskFactory, DescartesDMotionPlannerTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_isp_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_isp_plugin_factory.cpp
index b70ec7704b..2cb84c0584 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_isp_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_isp_plugin_factory.cpp
@@ -35,6 +35,7 @@ using IterativeSplineParameterizationTaskFactory = TaskComposerTaskFactory<Itera
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::IterativeSplineParameterizationTaskFactory,
-                                        IterativeSplineParameterizationTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::IterativeSplineParameterizationTaskFactory, IterativeSplineParameterizationTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_ruckig_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_ruckig_plugin_factory.cpp
index aad1344083..f217627f06 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_ruckig_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_ruckig_plugin_factory.cpp
@@ -35,6 +35,7 @@ using RuckigTrajectorySmoothingTaskFactory = TaskComposerTaskFactory<RuckigTraje
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::RuckigTrajectorySmoothingTaskFactory,
-                                        RuckigTrajectorySmoothingTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::RuckigTrajectorySmoothingTaskFactory, RuckigTrajectorySmoothingTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_totg_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_totg_plugin_factory.cpp
index 79b437d802..d5384d8b3a 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_totg_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_totg_plugin_factory.cpp
@@ -35,6 +35,7 @@ using TimeOptimalParameterizationTaskFactory = TaskComposerTaskFactory<TimeOptim
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TimeOptimalParameterizationTaskFactory,
-                                        TimeOptimalParameterizationTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TimeOptimalParameterizationTaskFactory, TimeOptimalParameterizationTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_ifopt_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_ifopt_plugin_factory.cpp
index 51c29ee40c..2566c0726c 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_ifopt_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_ifopt_plugin_factory.cpp
@@ -36,6 +36,7 @@ using TrajOptIfoptMotionPlannerTaskFactory = TaskComposerTaskFactory<MotionPlann
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TrajOptIfoptMotionPlannerTaskFactory,
-                                        TrajOptIfoptMotionPlannerTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TrajOptIfoptMotionPlannerTaskFactory, TrajOptIfoptMotionPlannerTaskFactory)
+// clang-format on
diff --git a/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_plugin_factory.cpp b/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_plugin_factory.cpp
index 1fa1ba21a8..92492a04a2 100644
--- a/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_plugin_factory.cpp
+++ b/tesseract_task_composer/planning/src/factories/planning_task_composer_trajopt_plugin_factory.cpp
@@ -36,6 +36,7 @@ using TrajOptMotionPlannerTaskFactory = TaskComposerTaskFactory<MotionPlannerTas
 
 }  // namespace tesseract_planning
 
+// clang-format off
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TrajOptMotionPlannerTaskFactory,
-                                        TrajOptMotionPlannerTaskFactory)
+TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::TrajOptMotionPlannerTaskFactory, TrajOptMotionPlannerTaskFactory)
+// clang-format on