UPnP/IGD manual config

Hi Everyone,
i want to configure UPnP/IGD manually because my HomeAssistant is running in a 10.0.0.0/24 network and the Router I want to monitor is in a 192.168.0.0/24 network. Autodiscovery of UPNP/IGD doesn’t find it.
192.168.0.0/24 is reachable from the 10.0.0.0/24 net because its a NAT within the 192… Network. So Toplogy looks like that:
internet ↔ 192.168.0.1 (Router1) ↔ 10.0.0.1 (Router2) ↔ 10.0.0.4 (HA)