--Add semantic mappings table used by MP3D/HM3D datasets.

[jturner65]

Motivation and Context

This PR adds a table of semantic mappings for Mp3d and HM3D datasets. It was copied from here; our copy facilitates us having remappings, edits and expansions, if such things should become necessary.

How Has This Been Tested

Has no impact on existing c++ and python tests

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.