runner_motion.py script gets stuck at env.step(...) execution when connected to RaisimUnity on Windows 11

[manuelbirlo]

After a successfull installation on my Windows 11 computer I tried to execute the sample scripts, for example runner_motion.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt' . First I open RaisimUnity and activate "Auto-connect" in the Connection panel on the left side of the Unity GUI. Then I launch runner_motion.py as described above. Then, the script execution gets stuck at the env.step call ([link to respective line in runner_motion.py]).(https://github.com/christsa/dgrasp/blob/8816d1ba80fbd95ec93142cb91695719effd05e9/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/runner_motion.py#L325C37-L325C46)

All I can see in RaisimUnity is the scene including the hand in its initial grasping state, but there is no movement to towards the object because the code does not return from the env.step(...) call:

I've also installed the standard RaiSim repo (https://github.com/raisimTech/raisimLib and was able to run the example demos including the rsg_anymal.py demo (https://github.com/raisimTech/raisimLib/blob/master/raisimGymTorch/raisimGymTorch/env/envs/rsg_anymal/runner.py) and I was able to see the robot moving.

Now, it seems that the RaiSim protocol version of this dgrasp project is a bit older than the protocol version of the current RaiSim repo.
I'm not sure if the problem is related to that.

Did anyone encounter a similar problem or knows what the reason could be for the env.step(...) call to never return?