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  "comparisons": [
    {
      "stream": "head_rgbd/color",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.6977574825287,
      "reference_minus_camera_end_s": 269.7356479167938,
      "camera_minus_reference_duration_s": -0.03789043426513672,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
    },
    {
      "stream": "head_rgbd/depth",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.6977574825287,
      "reference_minus_camera_end_s": 269.7356479167938,
      "camera_minus_reference_duration_s": -0.03789043426513672,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
    },
    {
      "stream": "head_stereo/color",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.69007539749146,
      "reference_minus_camera_end_s": 269.71741795539856,
      "camera_minus_reference_duration_s": -0.027342557907104492,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
    },
    {
      "stream": "left_wrist_rgbd/color",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.6831455230713,
      "reference_minus_camera_end_s": 269.7110478878021,
      "camera_minus_reference_duration_s": -0.02790236473083496,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
    },
    {
      "stream": "right_wrist_rgbd/color",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.68514013290405,
      "reference_minus_camera_end_s": 269.7128930091858,
      "camera_minus_reference_duration_s": -0.02775287628173828,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
    },
    {
      "stream": "torso_rgbd/color",
      "reference": "astribot_arm_left/command/command",
      "reference_minus_camera_start_s": 269.67108631134033,
      "reference_minus_camera_end_s": 269.69022512435913,
      "camera_minus_reference_duration_s": -0.019138813018798828,
      "clock_domain_note": "Raw numeric difference only; clock origins and physical delay are not established."
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  ],
  "reference": "astribot_arm_left/command/command",
  "method": {
    "mp4": "Every indexed color frame is exported; VFR PTS follows original inter-frame intervals, rebased to that camera first frame. One duplicate of the last image marks the end of a median-interval terminal hold; it is not an additional observation.",
    "display": "Per-stream first-frame alignment is a viewing convention, not measured synchronization. Raw timestamps are retained.",
    "missing": "Estimated missing intervals are inferred from median cadence; they are not a proven count of dropped sensor frames.",
    "latency": "Timestamp offsets alone cannot establish capture, control or transport latency. Physical lag requires a common event/clock or capture-side instrumentation."
  }
}