diff --git a/draft/sync_time.py b/draft/sync_time.py
index f88bf27..3239725 100644
--- a/draft/sync_time.py
+++ b/draft/sync_time.py
@@ -34,12 +34,16 @@ robot_ts_map = {
 }
 
 device_device_list: list[int] = []
+device_seq_list: list[int] = []
 for k in device_host_arr:
     seq, encoder, host_ts, device_deivce, buffer = b2t(
         device_ts_map[k].open("rb").read(100)
     )
-    device_device_list.append(device_deivce)
+    device_device_list.append(device_deivce * 1000)
+    device_seq_list.append(seq)
 device_device_arr = np.array(device_device_list)
+device_seq_arr = np.array(device_seq_list)
+device_device_zero = device_device_arr[0]
 robot_host_arr = np.array(sorted(robot_ts_map.keys()))
 robot_device_arr = np.array([robot_ts_map[k]["device_ts"] for k in robot_host_arr])
 camera_host_arr = np.array(sorted(camera_ts_map.keys()))
@@ -81,49 +85,49 @@ print("device_host - robot_device", (device_host_diff - robot_device_diff) / 10*
 print("device_host - camera_host", (device_host_diff - camera_host_diff) / 10**9)
 print("device_deivce - robot_device", (device_deivce_diff - robot_device_diff) / 10**9)
 
+device_device_cut = device_device_arr - device_device_zero
 
-x = (device_host_arr - device_host_zero) / 10**9
-y = np.zeros_like(x)
-plt.scatter(x, y)
+robot_device_cut = (
+    robot_device_arr[robot_host_id0 : robot_host_id1 + 1]
+    - robot_device_arr[robot_host_id0]
+    - robot_d0
+)
 
-x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
-y = np.zeros_like(x) + 1
-plt.scatter(x, y)
+camera_host_cut = (
+    camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero
+)
 
-x = (camera_host_arr[camera_host_id0 : camera_host_id1 + 1] - device_host_zero) / 10**9
-y = np.zeros_like(x) + 2
-plt.scatter(x, y)
-plt.show()
+# x = (device_host_arr - device_host_zero) / 10**9
+# y = np.zeros_like(x)
+# plt.scatter(x, y)
 
-# for i, a in enumerate(ass):
+# x = (robot_host_arr[robot_host_id0 : robot_host_id1 + 1] - device_host_zero) / 10**9
+# y = np.zeros_like(x) + 1
+# plt.scatter(x, y)
 
-# try:
-# # a - func(a, list(robot_ts_map.keys()))
-# print(i, a-func(a, list(robot_ts_map.keys())))
-# except Exception:
-# print(i,a)
-# pass
-# a = 174945200000000000
-# print(func(a, list(robot_ts_map.keys())))
+# x = camera_host_cut / 10**9
+# y = np.zeros_like(x) + 2
+# plt.scatter(x, y)
 
-# print(ass[1766-1:1766+2])
-# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444627751252600].read_bytes())
-# print(seq)
-# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749442951214858600].read_bytes())
-# print(seq)
-# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444583738329700].read_bytes())
-# print(seq)
+# x = device_device_cut / 10**9
+# y = np.zeros_like(x) + 3
+# plt.scatter(x, y)
 
-# 1766 1749442951214858600
-# 2271 1749442950915344400
-# 2272 1749442950944313600
-# 2273 1749442950961272400
-# 2274 1749442950993404700
-# 2275 1749442951056585700
-# 2276 1749442951061834900
-# 2277 1749442951119567900
-# 2278 1749442951139249100
-# 2279 1749442951144567800
-# 2280 1749442951149875300
-# 2281 1749442951169837900
-# 2282 1749442951197964400
+# x = robot_device_cut / 10**9
+# y = np.zeros_like(x) + 4
+# plt.scatter(x, y)
+
+# plt.show()
+
+for i, k in enumerate(device_device_cut):
+    res1, idx1, offset1 = match(k, robot_device_cut)
+    res2, idx2, offset2 = match(k, camera_host_cut)
+
+    r = robot_ts_map[robot_host_arr[idx1 + robot_host_id0]]
+    c = camera_ts_map[camera_host_arr[idx2 + camera_host_id0]]
+    print(
+        offset1 * 10**-9,
+        # (device_host_arr[i] - r["host_ts"]) * 10**-9,
+        offset2 * 10**-9,
+        # (device_host_arr[i] - camera_host_arr[idx2 + camera_host_id0]) * 10**-9,
+    )