fix(recording): re-recording episode doesn't increase count of recording episodes (#1395)

docs/source/il_robots.mdx

@@ -226,7 +226,8 @@ _init_rerun(session_name="recording")
 robot.connect()
 teleop.connect()
 
-for episode_idx in range(NUM_EPISODES):
+episode_idx = 0
+while episode_idx < NUM_EPISODES and not events["stop_recording"]:
     log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
 
     record_loop(
@@ -261,10 +262,7 @@ for episode_idx in range(NUM_EPISODES):
         continue
 
     dataset.save_episode()
-
+    episode_idx += 1
-    if events["stop_recording"]:
-        log_say("Exiting session")
-        break
 
 # Clean up
 log_say("Stop recording")

lerobot/record.py

@@ -286,7 +286,8 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
     listener, events = init_keyboard_listener()
 
-    for recorded_episodes in range(cfg.dataset.num_episodes):
+    recorded_episodes = 0
+    while recorded_episodes < cfg.dataset.num_episodes and not events["stop_recording"]:
         log_say(f"Recording episode {dataset.num_episodes}", cfg.play_sounds)
         record_loop(
             robot=robot,
@@ -324,9 +325,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
             continue
 
         dataset.save_episode()
-
+        recorded_episodes += 1
-        if events["stop_recording"]:
-            break
 
     log_say("Stop recording", cfg.play_sounds, blocking=True)