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mirrored_supervisor: Restore child ID format
[Why] The format was changed to be compatible with Khepri paths. However, this ID is used in in-memory states here and there as well. So changing its format makes upgrades complicated because the code has to handle both the old and new formats possibly used by the mirrored supervisor already running on other nodes. [How] Instead, this patch converts the ID (in its old format) to something compatible with a Khepri path only when we need to build a Khepri path. This relies on the fact that the `Group` is a module and we can call it to let it convert the opaque ID to a Khepri path. While here, improve the type specs to document that a group is always a module name and to document what a child ID can be.
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