Fix crash in python usd.exporter for geoms with invalid names #2730
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Geom names with odd slash placement (e.g. "robot//arm") are valid in mujoco and in the XML format, but are not valid in the USD format and will cause the exporter to crash with an invalid path error.
Error in 'pxrInternal_v0_25_5__pxrReserved__::UsdStage::_IsValidPathForCreatingPrim' at line 3771 in file /Users/runner/work/OpenUSD/OpenUSD/pxr/usd/usd/stage.cpp : 'Path must be an absolute path: <>'This PR adds a regex substitution to the exporter to get rid of leading/trailing/duplicate slashes in geom names.
Has the possible edge case of geoms vanishing from the final usd file if two separate geoms use the same name with extra slashes (e.g. "robot/box" and "robot//box"), which render as separate geoms in mujoco.