From ec40fc41b5be04b61f6c92e56f28e764fedf6b6d Mon Sep 17 00:00:00 2001
From: Michel Aractingi <michel.aractingi@huggingface.co>
Date: Fri, 18 Jul 2025 16:52:47 +0200
Subject: [PATCH] Removed references to batch encoding to be added later or in
 another PR

---
 src/lerobot/record.py | 62 +++++++++++++++++++++----------------------
 1 file changed, 30 insertions(+), 32 deletions(-)

diff --git a/src/lerobot/record.py b/src/lerobot/record.py
index 13ddab3b8..62e1536ca 100644
--- a/src/lerobot/record.py
+++ b/src/lerobot/record.py
@@ -73,7 +73,6 @@ from lerobot.configs.policies import PreTrainedConfig
 from lerobot.datasets.image_writer import safe_stop_image_writer
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
-from lerobot.datasets.video_utils import VideoEncodingManager
 from lerobot.policies.factory import make_policy
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.robots import (  # noqa: F401
@@ -335,47 +334,46 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
     listener, events = init_keyboard_listener()
 
-    with VideoEncodingManager(dataset):
-        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)
+    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,
+            events=events,
+            fps=cfg.dataset.fps,
+            teleop=teleop,
+            policy=policy,
+            dataset=dataset,
+            control_time_s=cfg.dataset.episode_time_s,
+            single_task=cfg.dataset.single_task,
+            display_data=cfg.display_data,
+        )
+
+        # Execute a few seconds without recording to give time to manually reset the environment
+        # Skip reset for the last episode to be recorded
+        if not events["stop_recording"] and (
+            (recorded_episodes < cfg.dataset.num_episodes - 1) or events["rerecord_episode"]
+        ):
+            log_say("Reset the environment", cfg.play_sounds)
             record_loop(
                 robot=robot,
                 events=events,
                 fps=cfg.dataset.fps,
                 teleop=teleop,
-                policy=policy,
-                dataset=dataset,
-                control_time_s=cfg.dataset.episode_time_s,
+                control_time_s=cfg.dataset.reset_time_s,
                 single_task=cfg.dataset.single_task,
                 display_data=cfg.display_data,
             )
 
-            # Execute a few seconds without recording to give time to manually reset the environment
-            # Skip reset for the last episode to be recorded
-            if not events["stop_recording"] and (
-                (recorded_episodes < cfg.dataset.num_episodes - 1) or events["rerecord_episode"]
-            ):
-                log_say("Reset the environment", cfg.play_sounds)
-                record_loop(
-                    robot=robot,
-                    events=events,
-                    fps=cfg.dataset.fps,
-                    teleop=teleop,
-                    control_time_s=cfg.dataset.reset_time_s,
-                    single_task=cfg.dataset.single_task,
-                    display_data=cfg.display_data,
-                )
+        if events["rerecord_episode"]:
+            log_say("Re-record episode", cfg.play_sounds)
+            events["rerecord_episode"] = False
+            events["exit_early"] = False
+            dataset.clear_episode_buffer()
+            continue
 
-            if events["rerecord_episode"]:
-                log_say("Re-record episode", cfg.play_sounds)
-                events["rerecord_episode"] = False
-                events["exit_early"] = False
-                dataset.clear_episode_buffer()
-                continue
-
-            dataset.save_episode()
-            recorded_episodes += 1
+        dataset.save_episode()
+        recorded_episodes += 1
 
     log_say("Stop recording", cfg.play_sounds, blocking=True)