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I truly believe that the only problem here is that Rasp cannot reach directly My PC, so they dont communicate, and it is a normal thing (that they cant reach each other) [..]

Now that we can see your network diagram: yes, this is a routing problem. Your RPi and your PC are not on the same network, and without "robot's PC" routing between the two networks, they won't be able to communicate.

This is indeed "a normal thing".

but i thought the master acted as a "router"

No, it doesn't. The mater is only really involved in discovery and setup of connections between nodes. Dataflows between nodes are direct, the master is not involved.

I truly believe that the only problem here is that Rasp cannot reach directly My PC, so they dont communicate, and it is a normal thing (that they cant reach each other) [..]

Now that we can see your network diagram: yes, this is a routing problem. Your RPi and your PC are not on the same network, and without "robot's PC" routing between the two networks, they won't be able to communicate.

This is indeed "a normal thing".

but i thought the master acted as a "router"

No, it doesn't. The mater master is only really involved in discovery and setup of connections between nodes. Dataflows between nodes are direct, the master is not involved.

I truly believe that the only problem here is that Rasp cannot reach directly My PC, so they dont communicate, and it is a normal thing (that they cant reach each other) [..]

Now that we can see your network diagram: yes, this is a routing problem. Your RPi and your PC are not on the same network, and without "robot's PC" routing between the two networks, they won't be able to communicate.

This is indeed "a normal thing".

but i thought the master acted as a "router"

No, it doesn't. The master is only really involved in discovery and setup of connections between nodes. Dataflows between nodes are direct, the master is not involved.