fix: ports ports ports

Dockerfile

@@ -17,7 +17,7 @@ RUN pip install --no-cache-dir -e .
 RUN mkdir -p /app/logs && chmod 777 /app/logs
 
 # Expose the gRPC port
-EXPOSE 50051
+EXPOSE 8080
 
 # Command to run the server
 CMD ["python", "lerobot/scripts/server/policy_server.py"]

lerobot/scripts/server/policy_server.py

@@ -333,15 +333,16 @@ class PolicyServer(async_inference_pb2_grpc.AsyncInferenceServicer):
 
 
 def serve():
+    PORT = 8080
     # Create the server instance first
     policy_server = PolicyServer()
     
     # Setup and start gRPC server
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
     async_inference_pb2_grpc.add_AsyncInferenceServicer_to_server(policy_server, server)
-    server.add_insecure_port("[::]:50051")
+    server.add_insecure_port(f"[::]:{PORT}")
     server.start()
-    logger.info("PolicyServer started on port 50051")
+    logger.info(f"PolicyServer started on port {PORT}")
     
     try:
         # Use the running attribute to control server lifetime

lerobot/scripts/server/robot_client.py

@@ -106,7 +106,7 @@ class RobotClient:
     ):
         # Use environment variable if server_address is not provided
         if server_address is None:
-            server_address = os.getenv("SERVER_ADDRESS", "localhost:50051")
+            server_address = os.getenv("SERVER_ADDRESS", "localhost:8080")
             logger.info(f"No server address provided, using default address: {server_address}")
 
         self.policy_config = TinyPolicyConfig(policy_type, pretrained_name_or_path, policy_device)