From 69901b9b6a2300914ca3de0ea14b6fa6e0203bd4 Mon Sep 17 00:00:00 2001
From: Steven Palma <imstevenpmwork@ieee.org>
Date: Fri, 27 Jun 2025 16:02:51 +0200
Subject: [PATCH] fix(recording): re-recording episode doesn't increase count
 of recording episodes (#1395)

---
 docs/source/il_robots.mdx | 8 +++-----
 lerobot/record.py         | 7 +++----
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx
index 8bc16b75..3dd9d80f 100644
--- a/docs/source/il_robots.mdx
+++ b/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()
-
-    if events["stop_recording"]:
-        log_say("Exiting session")
-        break
+    episode_idx += 1
 
 # Clean up
 log_say("Stop recording")
diff --git a/lerobot/record.py b/lerobot/record.py
index 766cfb35..ce6f538d 100644
--- a/lerobot/record.py
+++ b/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()
-
-        if events["stop_recording"]:
-            break
+        recorded_episodes += 1
 
     log_say("Stop recording", cfg.play_sounds, blocking=True)