The body frame has origin at the hesai pandar xt32, orientation as forward left up. The three axes are on the hesai xt32 axes.
hesai xt32 frame: left back up.
oculii eagle g7 cartesian point frame: orientation forward left up.
oculii eagle g7 native frame: orientation right down forward.
zed2i left camera frame: orientation right down forward.
zed2i imu frame: orientation forward left up.
zed2i right camera frame: orientation right down forward.
ars548 frame: orientation forward left up.
xsen MTi 3dk frame: orientation forward left up.
x36d IMU frame: orientation forward left up.