Hello here, the IMU am using have the same coordinate definition with ouster os1-64, which is front-left-up, thus I change the "extrinsicRot" and "extrinsicRPY" to identity matrices, and debug IMU according to the video, everything's fine. However, when I play my recorded bag, the result is a disaster, which seems to be IMU error.

And the terminal gives me

Do you have any suggestions? By the way, I've tested the same IMU with ouster using Lego-Loam, which is fine.
If you are interested, the recorded bag is
https://drive.google.com/file/d/10zUV7I8Mh7suLumHvFeLKOO-yTBr19wj/view?usp=sharing