Object Capture using Apple's free Reality Composer app for iOS and iPadOS, and view on Apple Vision Pro

Step 1: scan a real world object using Apple’s free Reality Composer iOS app. 
https://apps.apple.com/us/app/reality-composer/id1462358802
(Select Object Capture when you create a new project) 
This app will walk you through the process on how to perform a 3D scan.

Step 2: Click done, and wait for it to finish processing. Then airdrop the generated .usdz file unto your desktop. 

Step 3: Enable iCloud Sync on your Apple Vision Pro
Go to Settings > [your name] > iCloud, iCloud Drive, sync this Apple Vision Pro

Step 4, Your Apple Vision Pro files will now have access to your iCloud Drive. Select files with .usdz extension for viewing 3D models.