It seems to work if I replace the pathto template helper and move the
folder _static/ to static/ when the documentation is built:

import os
import shutil


def setup(app):
    app.connect('html-page-context', change_pathto)
    app.connect('build-finished', move_private_folders)

def change_pathto(app, pagename, templatename, context, doctree):
    """
    Replace pathto helper to change paths to folders with a leading
underscore.
    """
    pathto = context.get('pathto')
    def gh_pathto(otheruri, *args, **kw):
        if otheruri.startswith('_'):
            otheruri = otheruri[1:]
        return pathto(otheruri, *args, **kw)
    context['pathto'] = gh_pathto

def move_private_folders(app, e):
    """
    remove leading underscore from folders in in the output folder
    """
    def join(dir):
        return os.path.join(app.builder.outdir, dir)

    for item in os.listdir(app.builder.outdir):
        if item.startswith('_') and os.path.isdir(join(item)):
            shutil.move(join(item), join(item[1:]))
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