How can I add bicycle assets to RoadRunner and make them work in a Carla simulation?

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I need to place a bicycle in a RoadRunner scenario and make it work in a Carla simulation, but there are no bicycle assets in the Road Runner Asset Library.
So I imported a 3D model of my own bicycle according to the following site [1], assigned it the carla behavior, and ran the simulation, but the “no actor mapping” warning appeared and the bicycle was displayed as a separate vehicle.
How can I add a bicycle asset?
Or is there a way to make a custom vehicle work in a Carla simulation or to set up actor mapping?
Thank you in advance.

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