adapt to refactoring in core USD of registry handling of prim specs versus prim definitions #738
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These changes were made by the core USD team to allow some refactoring in the schema registry. They make use of API added in core USD version 20.05 so older APIs can be removed for later versions of USD. Support for older versions of USD is maintained as well.
The changes here are required to build against core USD at commit PixarAnimationStudios/OpenUSD@0e3171a or later.