Using Kit, which has Client Library, you should just be able to pass in a the omniverse:// url in the same way. But you would need our Client Library and USD Resolver. From within Kit it would look like this.
from pxr import Usd, UsdGeom
stage = Usd.Stage.Open("omniverse://localhost/Projects/path/test.usd")
print(stage.GetDefaultPrim())