I saw on the official website of the Magiscan app and on YouTube that USD Composer can use a plugin to load objects scanned by Magiscan. However, I can’t find this plugin in USD Composer. Below is a link to the introduction on Magiscan’s official website.
It is available as a download on their own website. If you follow this link, you will see a large DOWNLOAD button to download the extension and install it. It even has a step by step guide you can follow. MagiScan Omniverse Extension