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In the beginning, you need to decide on which characters or items you need to load rig.
It may not be all characters, for example, the object in this scene is static, or the supervisor animator has given you the task to animate only certain objects.
To switch the asset from cache to rig, select the character in USD Outliner, and right-click in the context menu Variants=>animDisplayVariant=>rig.
This will download the maya reference onto the character, and it will have to move to the same location as it was set in the USD scene.
