Stage 1 outputs definition

Hello

Thank you for the great project. I am trying to use the SAM3D to get only the first stage outputs. I see:
'6drotation_normalized', 'scale', 'shape', 'translation', 'translation_scale', 'coords_original', 'coords', 'downsample_factor', 'rotation'

Would you please explain if 'translation' here is normalized or not? If yes, how to convert it to unnormalized? Should I divide it by 'translation_scale'? i am asking because in some scenarios the numbers don't make sense to me.

Thank You