Fixes deprecation notice for using `pxr.Semantics` (#1129)

# Description

It seems that `pxr.Semantics` module is now deprecated. Instead the
`Semantics` module should be used directly. This MR makes changes to the
affected modules.

Verified for Isaac Sim 4.2.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

pyproject.toml

@@ -46,6 +46,7 @@ known_third_party = [
     "omni.kit.*",
     "warp",
     "carb",
+    "Semantics",
 ]
 # Imports from this repository
 known_first_party = "omni.isaac.lab"

source/extensions/omni.isaac.lab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.24.16"
+version = "0.24.17"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.24.17 (2024-10-04)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the deprecation notice for using ``pxr.Semantics``. The corresponding modules use ``Semantics`` module
+  directly.
+
+
 0.24.16 (2024-10-03)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py

@@ -17,7 +17,13 @@ import carb
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
 from omni.isaac.cloner import Cloner
-from pxr import PhysxSchema, Sdf, Semantics, Usd, UsdGeom, UsdPhysics, UsdShade
+from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
+
+# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
+try:
+    import Semantics
+except ModuleNotFoundError:
+    from pxr import Semantics
 
 from omni.isaac.lab.utils.string import to_camel_case
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_vision_env.py

@@ -9,7 +9,12 @@ from __future__ import annotations
 import torch
 
 import omni.usd
-from pxr import Semantics
+
+# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
+try:
+    import Semantics
+except ModuleNotFoundError:
+    from pxr import Semantics
 
 import omni.isaac.lab.sim as sim_utils
 from omni.isaac.lab.assets import Articulation, RigidObject