Minimum point / second requirement in 3D?

Hi!

I am trying to use Unitree lidar L1 (https://www.unitree.com/LiDAR/) for mapping. However I am getting horrible results at base settings. The IMU is about 200hz while the actual point cloud is about 6-7hz. All of the lidars that other people use output ~100k + points /sec while Unitree lidar L1 only outputs about 20k points /sec. Is that a problem? and if so, how can I fix it in config (if possible)?