To get more particular, the G3 has a full auto capable bolt carrier and auto trigger pack. The BC can be used in the HK91 without issue, and the trigger pack can be modified to work in the 91 as a semi.
as far as what to call it, it's a G3 semi. Even the HK91 is a G3 semi.
I don't know what the deal is with people feeling so obligated to differentiate between the auto and the semi as far as naming conventions go.
M4gery
G3 clone
The auto selector is about 10% of the parts involved in the gun, and there are so few autos in private hands in comparison, that the NFA owners would be the ones to point out the difference in their real G3 compared to a G3 semi auto.
Now, this is where I get slightly less than positive, but as best I recall the FMP G3S is built on the same line that built G3's for the portuguese military, but it had the semi trigger pack, and had tabs welded over the front grip frame pin holes in the receiver. I know this is the case with the Ebo, Greece built rifles, and I'm pretty sure it's the case with the Portuguese rifles. On the other hand, the HK91 was a purpose built semi auto receiver. It never had the front pin holes in the receiver.
What difference this really makes is minor. All I can figure is it might help out on having apaddle mag release installed