Question for manipulation?

[SYSUykLin]

Why we need the scene center? I don't understand.

In generate_poses_eval function, u list the mani_center: mani_centers = {'bathroom': [0.779178, 1.05247, 0.380208], 'bedroom': [-1.29552, 1.72703, 0.2946], 'dinning': [-0.633653, 0.295162, 0.279743], 'kitchen': [-2.52579, -0.103821, 1.47165], 'reception': [0.579352, -0.099242, 0.092597], 'restroom': [-0.001277, -2.85079, 0.588084], 'office': [-0.717374, 0.929292, 0.904515], 'study': [-0.519422, -2.16509, 1.07392]} Can u explain the manipulation matrix generater? Thanks!!