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Fix asset paths in from_zip on Windows - #569
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os.path.relpath returns backslash-separated paths on Windows, but zip entries and the file= attributes in MJCF XML always use '/'. As a result models with assets in subfolders could not be loaded from a zip on Windows, and directory entries (which end in '/' in a zip) were not being filtered out because os.path.sep is '\' there. Normalise the relpath result to '/', and check for '/' when skipping directory entries.
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Small fix for loading zipped MJCF models on Windows. In from_zip the asset keys are built with os.path.relpath(name, model_dir), which gives backslash-separated paths on Windows, but zip entries and the paths referenced from MJCF XML always use '/'. So any model with assets in a subfolder gets asset keys like 'meshes\cube.stl' that never match the 'meshes/cube.stl' references in the model, and the load fails. Directory entries also slip through because they end in '/' in a zip, not os.path.sep.
Verified on Windows against the bundled model_with_assetdir.zip: before the change keys come out as 'meshes\cube.stl' / 'textures\deepmind.png' plus empty-byte keys for the 'meshes/' and 'textures/' entries; after it the keys are 'meshes/cube.stl' and 'textures/deepmind.png' and the directory entries are skipped. On Linux/macOS this is a no-op (replace is a no-op and endswith('/') already matched os.path.sep), so existing behaviour and tests are unchanged.