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The TF transform graph, with its support for both a temporal history, and distributed information sources, has been a novel tool for robotics frameworks when it was released in 2008. Functionally, it is based in scene graph concepts known from computer graphics [[Foote 2013]](https://ieeexplore.ieee.org/document/6556373), but these only rarely offer distribution, and did not offer temporal histories at all (mainly, because this is not needed for frame-based rendering applications like in computer graphics). Distributed scene graphs have become more widely available also in computer graphics. In robotics, work by de Laet et al. [[De Laet et al. 2013]](https://ieeexplore.ieee.org/document/6696693) has extended transforms graphs to also contain twist (i.e., angular motion) information, and to provide more compile-time error checking. This is currently not integrated with distribution mechanisms, but could be used on a single system.