How to register new environment so rscope can show training visualization?

Hi, I am trying to implement my own humanoid robot into mujoco playground and would like to see training visualization in rscope. However, when I tried to run `python3 train_jax_ppo.py --env_name MyRobotJoystickFlatTerrain --rscope_envs 1 --run_evals=False --deterministic_rscope=True` this message appeared: `NotImplementedError:_model_assets not defined for this environmentsee cartpole.py for an example` . I have also tried G1JoystickFlatTerrain, and the same message appears. What do I need to do in order to let rscope show visualization of my training env? Any help would be appreciated, thanks!