Do not strip the path when compiling an mjSpec.

The path has already been stripped while parsing. This will enable prefixes that contain a `/` while attaching.

Also use `spec.meshdir` for asset paths in `spec.to_zip()`.

PiperOrigin-RevId: 794573523
Change-Id: Ic36bb641c3d72848399006cf718afd8542e91ed4

python/mujoco/__init__.py

@@ -105,7 +105,7 @@ def to_zip(spec: _specs.MjSpec, file: Union[str, IO[bytes]]) -> None:
     file = open(file, 'wb')
   with zipfile.ZipFile(file, 'w') as zip_file:
     for filename, contents in files_to_zip.items():
-      zip_info = zipfile.ZipInfo(os.path.join(spec.modelname, filename))
+      zip_info = zipfile.ZipInfo(os.path.join(spec.meshdir, filename))
       zip_file.writestr(zip_info, contents)
 
 

python/mujoco/specs_wrapper.cc

@@ -98,8 +98,7 @@ raw::MjModel* MjSpec::Compile() {
   mjVFS vfs;
   mj_defaultVFS(&vfs);
   for (const auto& asset : assets) {
-    std::string buffer_name =
-        _impl::StripPath(py::cast<std::string>(asset.first).c_str());
+    std::string buffer_name = py::cast<std::string>(asset.first).c_str();
     std::string buffer = py::cast<std::string>(asset.second);
     const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
         &vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());