diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index e1469a80d35feecd9cb12914a62b944cabb4ba81..e278bcd05fb60f8ee45f10c6aaef3a2a9a310194 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -40,7 +40,6 @@
 #include <RobotAPI/libraries/aron/core/data/variant/All.h>
 #include <RobotAPI/libraries/core/FramedPose.h>
 
-
 namespace armarx::armem::server::robot_state::proprioception
 {
 
@@ -52,7 +51,6 @@ namespace armarx::armem::server::robot_state::proprioception
             DebugObserverHelper(Logging::tag.tagName, debugObserverPlugin.getDebugObserver(), true);
     }
 
-
     static float
     toDurationMs(std::chrono::high_resolution_clock::time_point start,
                  std::chrono::high_resolution_clock::time_point end)
@@ -61,7 +59,6 @@ namespace armarx::armem::server::robot_state::proprioception
         return duration.count() / 1000.f;
     }
 
-
     void
     RobotStateWriter::run(float pollFrequency,
                           Queue& dataBuffer,
@@ -88,10 +85,12 @@ namespace armarx::armem::server::robot_state::proprioception
                 // Commits lock the core segments.
 
                 // Proprioception + Exteroception
-                armem::CommitResult resultProprioception = memory.commitLocking(update.proprioception);
+                armem::CommitResult resultProprioception =
+                    memory.commitLocking(update.proprioception);
 
                 ARMARX_DEBUG << deactivateSpam(1) << VAROUT(update.exteroception.updates.size());
-                armem::CommitResult resultExteroception = memory.commitLocking(update.exteroception);
+                armem::CommitResult resultExteroception =
+                    memory.commitLocking(update.exteroception);
                 endProprioception = std::chrono::high_resolution_clock::now();
 
                 // Localization
@@ -105,13 +104,15 @@ namespace armarx::armem::server::robot_state::proprioception
 
                 if (not resultProprioception.allSuccess())
                 {
-                    ARMARX_WARNING << "Could not commit data to proprioception segment in memory. Error message: "
+                    ARMARX_WARNING << "Could not commit data to proprioception segment in memory. "
+                                      "Error message: "
                                    << resultProprioception.allErrorMessages();
                 }
 
                 if (not resultExteroception.allSuccess())
                 {
-                    ARMARX_WARNING << "Could not commit data to exteroception segment in memory. Error message: "
+                    ARMARX_WARNING << "Could not commit data to exteroception segment in memory. "
+                                      "Error message: "
                                    << resultExteroception.allErrorMessages();
                 }
 
@@ -158,21 +159,25 @@ namespace armarx::armem::server::robot_state::proprioception
         // Send batch to memory
         Update update;
 
-        if(data.proprioception){
+        if (data.proprioception)
+        {
             armem::EntityUpdate& up = update.proprioception.add();
             up.entityID = properties.robotUnitProviderID.withEntityName(
                 properties.robotUnitProviderID.providerSegmentName);
-            up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
+            up.entityID.coreSegmentName =
+                ::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
             up.referencedTime = data.timestamp;
             up.instancesData = {data.proprioception};
         }
 
         // Exteroception
-        if(data.exteroception){
+        if (data.exteroception)
+        {
             armem::EntityUpdate& up = update.exteroception.add();
             up.entityID = properties.robotUnitProviderID.withEntityName(
                 properties.robotUnitProviderID.providerSegmentName);
-            up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
+            up.entityID.coreSegmentName =
+                ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
             up.referencedTime = data.timestamp;
             up.instancesData = {data.exteroception};
         }
@@ -200,7 +205,6 @@ namespace armarx::armem::server::robot_state::proprioception
         return update;
     }
 
-
     armem::robot_state::Transform
     RobotStateWriter::getTransform(const aron::data::DictPtr& platformData,
                                    const Time& timestamp) const
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
index 34260f51e36951f7b9a0a68369cf8317e8a4dedc..a0178f32fe86eed0406c09d862de7e7a9db6b0e0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -56,10 +56,11 @@ namespace armarx::armem::server::robot_state::proprioception
 
             if (std::optional<RobotUnitData> commit = fetchAndConvertLatestRobotUnitData())
             {
-                // will lock a mutex
-                debugObserver->setDebugObserverDatafield("RobotUnitReader | t commitTimestamp [us]",
-                                                         commit->timestamp.toMicroSecondsSinceEpoch());
+                debugObserver->setDebugObserverDatafield(
+                    "RobotUnitReader | t commitTimestamp [us]",
+                    commit->timestamp.toMicroSecondsSinceEpoch());
 
+                // will lock a mutex
                 dataBuffer.push(std::move(commit.value()));
             }
             auto duration = std::chrono::duration_cast<std::chrono::microseconds>(