finalize the dataset after recording (#2496)

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/scripts/lerobot_record.py

@@ -404,6 +404,10 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
         ),
     )
 
+    dataset = None
+    listener = None
+
+    try:
         if cfg.resume:
             dataset = LeRobotDataset(
                 cfg.dataset.repo_id,
@@ -502,14 +506,18 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
                 dataset.save_episode()
                 recorded_episodes += 1
-
+    finally:
         log_say("Stop recording", cfg.play_sounds, blocking=True)
 
+        if dataset:
+            dataset.finalize()
+
+        if robot.is_connected:
             robot.disconnect()
-    if teleop is not None:
+        if teleop and teleop.is_connected:
             teleop.disconnect()
 
-    if not is_headless() and listener is not None:
+        if not is_headless() and listener:
             listener.stop()
 
         if cfg.dataset.push_to_hub: