# data/collect — Random‑sweep dataset capture

Move servos in a random circular pattern and capture synchronized camera frames
from the HTTP stream server, writing a `StructuredDataset` to disk.

## Usage

```bash
# Capture 100 frames at radius 5.0, move to a waypoint before capture
s6 data collect -n 100 -r 5.0 --waypoint center -o data/random_dataset

# List available waypoints (no capture)
s6 data collect --wps
```

## How it works
- Connects to the robotic RPC via `PathDriver` (host/port from args or stream
  server) and optionally moves to `--waypoint`.
- Iterates a random path (`driver.random`) within the given radius; for each
  pose, fetches a composite frame from the FastAPI stream server and splits it
  into per-camera images via `s6.utils.take_snapshot`.
- Reorders camera images deterministically with `CameraIDIdentifierAruco` and writes
  records into `s6.utils.StructuredDataset` with servo positions and images.

## Key flags
- `-n/--frame-count` — number of samples to capture (default 100)
- `-r/--radius` — random sweep radius
- `--waypoint` — named waypoint to move to before capture
- `-o/--output` — output dataset directory
- `--stream-server` — host of the FastAPI video stream server
- `--rpc-host`, `--rpc-port`, `--rpc-serialization` — robotic RPC settings
- `--wps` — list waypoints and exit