LiDAR_IMU_Init

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Hi, I would like to ask about the consistency of the results between two of the example datasets (hesai_apartment and hesai_library). I ran the example datasets with the hesai_pandarXT.launch (and pandar.yaml) without any modifications, and below are the results I got.

hesai_library

[Refinement]  Online Refinement 100% [||||||||||||||||||||||||||||||]

[Final Result] Rotation LiDAR to IMU    =   -0.247517   -1.941298 -179.701625 deg
[Final Result] Translation LiDAR to IMU = -0.129982 -0.026843  0.151303 m
[Final Result] Time Lag IMU to LiDAR    = 50161533.97495390 s 
[Final Result] Bias of Gyroscope        =  0.004215  0.000774 -0.001765 rad/s
[Final Result] Bias of Accelerometer    =  0.009421  0.002030 -0.007149 m/s^2
[Final Result] Gravity in World Frame   =  0.137945  0.046071 -9.809406 m/s^2

hesai_apartment

[Refinement]  Online Refinement 100% [||||||||||||||||||||||||||||||]

[Final Result] Rotation LiDAR to IMU    =    0.084913   -1.454845 -179.244912 deg
[Final Result] Translation LiDAR to IMU =  0.131225 -0.038163  0.283481 m
[Final Result] Time Lag IMU to LiDAR    = 50574455.96220298 s 
[Final Result] Bias of Gyroscope        = 0.002488 0.000104 0.001526 rad/s
[Final Result] Bias of Accelerometer    =  0.018897 -0.015838 -0.008524 m/s^2
[Final Result] Gravity in World Frame   = -0.041820 -0.083658 -9.808701 m/s^2

As can be seen, there is about a 13cm difference in the Z-axis translation, and the time lag looks wrong as well. Is there something I'm doing wrong? Like maybe there is something that should be changed in the config files? Thanks in advance!