Store asset keys relative to the MJCF. This CL fixes cases when loading a spec with "from_zip" that fails on zipped folders that contain a root directory.

PiperOrigin-RevId: 825484553 Change-Id: I79c6f542edbd3ffd167d0b5cecc704c32c8d6824
2025-10-29 04:23:18 -07:00
parent 010d919244
commit d769440924
5 changed files with 31 additions and 0 deletions
@@ -124,15 +124,25 @@ def from_zip(file: Union[str, IO[bytes]]) -> _specs.MjSpec:
  if not zipfile.is_zipfile(file):
    raise ValueError(f'File {file} is not a zip file.')
  with zipfile.ZipFile(file, 'r') as zip_file:
+    xml_dir = None
    for zip_info in zip_file.infolist():
      if not zip_info.filename.endswith(os.path.sep):
        with zip_file.open(zip_info.filename) as f:
          if zip_info.filename.endswith('.xml'):
            xml_string = f.read()
+            xml_dir = os.path.dirname(zip_info.filename)
          else:
            assets[zip_info.filename] = f.read()
+
  if not xml_string:
    raise ValueError('No XML file found in zip file.')
+
+  relative_assets = {}
+  for key, value in assets.items():
+    new_key = os.path.relpath(key, xml_dir)
+    relative_assets[new_key] = value
+  assets = relative_assets
+
  return _specs.MjSpec.from_string(xml_string, assets=assets)