f self._biped_setup_prim is None:
            add_reference_to_stage(self._biped_usd_path, self._biped_setup_prim_path)
            biped_xform = XFormPrim(self._biped_setup_prim_path)
            biped_xform.set_world_pose(
                position=[0, 0, 0], orientation=[0.70711, 0.70711, 0, 0]
            )
            self._biped_setup_prim = self._stage.GetPrimAtPath(
                self._biped_setup_prim_path
            )

            self._biped_setup_prim.GetAttribute("visibility").Set("invisible")

        # Load the character USD
        add_reference_to_stage(
            self._character_path_dict[character_name],
            f"/World/Character_{self._character_count}",
        )

        # Set the character's transform
        character_prim = self._stage.GetPrimAtPath(
            f"/World/Character_{self._character_count}"
        )
        xform = XFormPrim(f"/World/Character_{self._character_count}")
        xform.set_world_pose(position=position, orientation=orientation)

        # Add animation graph entry for the character
        # These need to be attached to the sub prim of the character
        # below 'ManRoot' and is of the type 'SkelRoot'
        skel_root_prim = None
        for child_prim in Usd.PrimRange(character_prim):
            print(child_prim.GetTypeName())
            if child_prim.IsA(UsdSkel.Root):
                skel_root_prim = child_prim
                break
        
        if skel_root_prim is None:
            carb.log_error(f"Could not find 'SkelRoot' for character {character_name}. Not proceeding.")
            return None
        omni.kit.commands.execute('ApplyAnimationGraphAPICommand',
        paths=[Sdf.Path(skel_root_prim.GetPath())],
        animation_graph_path=Sdf.Path(self._biped_setup_prim_path + "/CharacterAnimation/AnimationGraph"))

        # Add behaviour script entry for the character
        omni.kit.commands.execute('ApplyScriptingAPICommand', paths=[Sdf.Path(skel_root_prim.GetPath())])
        omni.kit.commands.execute('RefreshScriptingPropertyWindowCommand')
        attr = skel_root_prim.GetAttribute("omni:scripting:scripts")
        attr.Set([self.script_path])