Applies semantic_tags to ground (#2410)

# Description

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The check
[here](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/utils.py#L260):
the
[RigidBodyMaterialCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py#L30)
used by
[GroundPlaneCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py#L158)
lacks a semantic_tags attribute. So the semantic_tags will not set to
the ground correctly, then the semantic_segmentation_mapping can not
been correctly mapped.

Fixes # (issue)

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## Type of change

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

## Screenshots

Please attach before and after screenshots of the change if applicable.
Ground didn't been mapping correctly.
| Before | After |
| ------ | ----- |
|
![image](https://github.com/user-attachments/assets/904c8223-4100-45d9-b0ea-ab54833269e3)
| ![Screenshot 2025-04-29 at 17 57
24](https://github.com/user-attachments/assets/4ef18c5f-8587-4ed0-9890-c7dfaae30675)|
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## 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

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---------
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

CONTRIBUTORS.md

@@ -108,6 +108,7 @@ Guidelines for modifications:
 * Yang Jin
 * Yanzi Zhu
 * Yujian Zhang
+* Yun Liu
 * Zhengyu Zhang
 * Ziqi Fan
 

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.38.0"
+version = "0.39.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.39.0 (2025-05-03)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added semantic tags in :func:`isaaclab.sim.spawners.from_files.spawn_ground_plane`.
+  This allows for :attr:`semantic_segmentation_mapping` to be used when using the ground plane spawner.
+
+
 0.38.0 (2025-04-01)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py

@@ -11,7 +11,7 @@ import isaacsim.core.utils.prims as prim_utils
 import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.log
-from pxr import Gf, Sdf, Usd
+from pxr import Gf, Sdf, Semantics, Usd
 
 from isaaclab.sim import converters, schemas
 from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants
@@ -173,8 +173,22 @@ def spawn_ground_plane(
     # It isn't bright enough and messes up with the user's lighting settings
     omni.kit.commands.execute("ToggleVisibilitySelectedPrims", selected_paths=[f"{prim_path}/SphereLight"])
 
+    prim = prim_utils.get_prim_at_path(prim_path)
+    # Apply semantic tags
+    if hasattr(cfg, "semantic_tags") and cfg.semantic_tags is not None:
+        # note: taken from replicator scripts.utils.utils.py
+        for semantic_type, semantic_value in cfg.semantic_tags:
+            # deal with spaces by replacing them with underscores
+            semantic_type_sanitized = semantic_type.replace(" ", "_")
+            semantic_value_sanitized = semantic_value.replace(" ", "_")
+            # set the semantic API for the instance
+            instance_name = f"{semantic_type_sanitized}_{semantic_value_sanitized}"
+            sem = Semantics.SemanticsAPI.Apply(prim, instance_name)
+            # create semantic type and data attributes
+            sem.CreateSemanticTypeAttr().Set(semantic_type)
+            sem.CreateSemanticDataAttr().Set(semantic_value)
     # return the prim
-    return prim_utils.get_prim_at_path(prim_path)
+    return prim
 
 
 """