Janet Street-Porter, then a BBC executive, read the script and said it was impossible to shoot. She wanted the producers to discard the script and write a different one. She was then informed that the episode had already wrapped the day before.
This episode won an International Emmy Award for Best Comedy.
Robert Llewellyn and Danny John-Jules were skilled horse riders but Chris Barrie and Craig Charles had never ridden on horses before. Charles was eager to learn but Barrie was very frightened of riding the horse. Charles played a prank on Barrie by slapping Barrie's horse on the behind causing the horse to rear up and run off at full speed. Barrie was extremely angry at Charles for doing this.
While filming the scene where Kryten makes him come out of AR, Craig Charles injured his groin by forgetting to remove the groinal attachment before walking away. This blooper is on the Series VI DVD.