--- write_episode failed ---
Traceback (most recent call last):
  File "/Users/mc/repo/code9/.claude/worktrees/physics/client/sim/teleop/so101_bridge/dataset_writer.py", line 290, in _writer_loop
    self._write_episode(snap)
    ~~~~~~~~~~~~~~~~~~~^^^^^^
  File "/Users/mc/repo/code9/.claude/worktrees/physics/client/sim/teleop/so101_bridge/dataset_writer.py", line 323, in _write_episode
    self._dataset.add_frame(frame)
    ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^
  File "/Users/mc/.venvs/teleop/lib/python3.13/site-packages/lerobot/datasets/lerobot_dataset.py", line 363, in add_frame
    self._require_writer("add_frame")
    ~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
  File "/Users/mc/.venvs/teleop/lib/python3.13/site-packages/lerobot/datasets/lerobot_dataset.py", line 270, in _require_writer
    raise RuntimeError(
    ...<3 lines>...
    )
RuntimeError: Cannot call 'add_frame()' on a read-only dataset. Use LeRobotDataset.create() for new recording or LeRobotDataset.resume() for resume recording.