what thing the new_tf do?

[xins981]

catgrasp/make_canonical.py

Line 74 in dc656c0

new_tf = np.eye(4)

Hi, the frame had been translated to the centere of the object, why again calcute the new_tf matrix? In my opinion, the new_tf just transform the obj to canonical space, but before new_tf do the object had at canonical space(line68-69).