update data root resolve

README.md

@@ -142,6 +142,8 @@ Controls: `Space` start the episode, `→` save it, `←` discard and re-record
 
 > During collection the **relative position between the robot arm and the camera must not change**, and the camera setup at inference time must match the one used during collection. If the arm or camera moves, previously collected data becomes invalid.
 
+> If the dataset root already exists and `-r` is not given, the script asks whether to overwrite it, resume, or cancel.
+
 ### 3. Manual drag recording
 
 ```bash
@@ -149,7 +151,16 @@ Controls: `Space` start the episode, `→` save it, `←` discard and re-record
 ./start_manual_record.sh -r   # force resume; fails if the dataset directory does not exist
 ```
 
-The launcher reads `dataset.root` from `config/manual_mode/xarm7_manual_record_config.yaml`: on first run it creates the dataset, and on later runs it automatically resumes an existing valid dataset. If the directory exists but is not a valid LeRobot dataset, choose a new `dataset.root`, or remove that directory after confirming it contains no data.
+The record script (`uf-lerobot-record`) reads `dataset.root` from the config and creates the path with `mkdir -p` first, then:
+
+- Directory does not exist → records a new dataset.
+- Directory already exists (valid LeRobot dataset) and no `-r` was given → asks interactively:
+  - `o` overwrite: delete the existing dataset and record a new one
+  - `r` resume: keep existing episodes and continue recording
+  - `c` cancel
+- Directory exists but is not a valid LeRobot dataset (missing `meta/info.json`) → asks to overwrite it or cancel; non-interactive runs error out instead.
+
+Pass `-r` to resume directly without asking. Note that `./start_manual_record.sh` keeps its original launcher behavior — it automatically resumes an existing valid dataset (equivalent to `-r`), so run `uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml` directly if you want to see the overwrite/resume prompt.
 
 During recording the arm is in teach mode: the actual joint state is written as both the observation and the action. Hold `C` to slowly close the gripper and `O` to slowly open it. Controls: `Space` start, `→` save, `←` discard & re-record, `Esc` stop. Reset the arm manually between episodes.
 

README_ZH.md

@@ -141,6 +141,8 @@ uv run uf-lerobot-record --config_path config/gello/xarm7_gello_record_config.ya
 
 > 采集过程中**机械臂与相机（D435 / D435i）的相对位置必须保持不变**，推理时的相机位置必须与采集时一致。若机械臂或相机发生变化，此前采集的数据将失效。
 
+> 如果数据集目录已存在且未加 `-r`，脚本会询问是覆盖、续录还是取消。
+
 ### 3. 手动拖拽数据采集
 
 ```bash
@@ -148,7 +150,16 @@ uv run uf-lerobot-record --config_path config/gello/xarm7_gello_record_config.ya
 ./start_manual_record.sh -r   # 强制续录；数据集目录不存在时会报错
 ```
 
-启动脚本会从 `config/manual_mode/xarm7_manual_record_config.yaml` 读取 `dataset.root`：首次运行创建数据集，之后运行会自动续录已有的有效数据集。如果目录存在但不是有效的 LeRobot 数据集，请更换 `dataset.root`，或确认没有数据后删除该目录。
+录制脚本（`uf-lerobot-record`）会从配置读取 `dataset.root` 并先执行 `mkdir -p` 创建路径，然后：
+
+- 目录不存在：直接录制新数据集。
+- 目录已存在（有效 LeRobot 数据集）且未加 `-r`：交互询问：
+  - `o` 覆盖：删除已有数据集，重新录制
+  - `r` 续录：保留已有 episode，继续录制
+  - `c` 取消
+- 目录存在但不是有效 LeRobot 数据集（缺少 `meta/info.json`）：询问覆盖或取消；非交互运行时直接报错。
+
+加 `-r` 可跳过询问直接续录。注意 `./start_manual_record.sh` 保持原有启动脚本行为——检测到有效数据集会自动续录（相当于 `-r`），如果想看到覆盖/续录的询问，请直接用 `uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml` 运行。
 
 录制时机械臂处于示教模式，实际关节状态会同时作为 observation 和 action 写入数据集。按住 `C` 缓慢闭合夹爪，按住 `O` 缓慢张开。按键控制：`Space` 开始，`→` 保存，`←` 放弃并重录，`Esc` 停止。episode 之间手动复位机械臂。
 

src/lerobot_robot_ufactory/scripts/uf_lerobot_record.py

@@ -493,12 +493,85 @@ def _print_record_controls(is_recorded, manual_mode):
     print(f'⌨   {controls}')
 
 
+def _ask_choice(prompt: str, options: dict[str, str]) -> str:
+    """Prompt the user to pick one of the given options (lowercase keys)."""
+    keys = "/".join(options)
+    while True:
+        print(f"\n{prompt}")
+        for key, description in options.items():
+            print(f"  [{key}] {description}")
+        try:
+            choice = input(f"Choose [{keys}]: ").strip().lower()
+        except EOFError:
+            print("No input available, cancelling.")
+            raise SystemExit(1)
+        if choice in options:
+            return choice
+        print(f"Invalid choice, please enter {keys}.")
+
+
+def _prepare_dataset_root(cfg: UFRecordConfig) -> None:
+    """Create the dataset root and ask how to handle an existing dataset."""
+    root = Path(cfg.dataset.root)
+    existed = root.exists()
+
+    # Create the dataset root (and any parent directories) first.
+    root.mkdir(parents=True, exist_ok=True)
+
+    if not existed or cfg.resume:
+        return
+
+    if not (root / "meta" / "info.json").is_file():
+        # The directory exists but is not a valid LeRobot dataset.
+        if not sys.stdin.isatty():
+            raise RuntimeError(
+                f"Dataset directory exists but is not a valid LeRobot dataset: {root}\n"
+                "Choose a new dataset.root, or remove this empty/incomplete directory before recording."
+            )
+        choice = _ask_choice(
+            f"Directory exists but is not a valid LeRobot dataset: {root}",
+            options={
+                "o": "Overwrite: remove this directory and record a new dataset",
+                "c": "Cancel",
+            },
+        )
+        if choice == "o":
+            shutil.rmtree(root)
+        else:
+            raise SystemExit("Recording cancelled.")
+        return
+
+    # A valid LeRobot dataset already exists.
+    if not sys.stdin.isatty():
+        # Non-interactive run: keep the previous auto-resume behaviour.
+        cfg.resume = True
+        print(f"Existing dataset found, resuming recording (non-interactive): {root}")
+        return
+
+    choice = _ask_choice(
+        f"Dataset directory already exists: {root}",
+        options={
+            "o": "Overwrite: delete the existing dataset and record a new one",
+            "r": "Resume: keep existing episodes and continue recording",
+            "c": "Cancel",
+        },
+    )
+    if choice == "o":
+        shutil.rmtree(root)
+    elif choice == "r":
+        cfg.resume = True
+    else:
+        raise SystemExit("Recording cancelled.")
+
+
 def record(cfg: UFRecordConfig, async_save: bool = False) -> LeRobotDataset:
     init_logging()
     logging.info(pformat(asdict(cfg)))
     if cfg.display_data:
         init_rerun(session_name="recording")
 
+    _prepare_dataset_root(cfg)
+
     robot = make_robot_from_config(cfg.robot)
     teleop = make_teleoperator_from_config(cfg.teleop) if cfg.teleop is not None else None
     manual_mode = bool(getattr(cfg.robot, "manual_mode", False))