Sensor's normal location

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Hi,
The documentation on the info object states that ‘loc’ stores “position
plus the normal given by a 3x3 rotation matrix”.

But I’m still confused how to get the normal of sensors, I tried as below:

  1. concatenate the 3x3 rotation matrix with sensor’s location to get 3x4 matrix, then concatenate with [0, 0, 0, 1] to get the ultimate rotation matrix of 4x4 dimension
  2. then np.dot(rotation matrix, sensor’s location)

my question is: is my rotation matrix right? and is the rotation matrix is from sensors coordinate to device coordinate?

Thanks
Teddy