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);
 }