In the above case, ASSEMBLY_B will be omitted properly from the URDF in terms of meshes. HOWEVER, the expected frame does not appear.
FYI I fixed this in our fork by looking up the reassigned assembly after the assignation spreading step instead of the one returned by the API (which may be overwritten).
Consider the following connection:
ROOT_ASSEMBLY -(dof_slider)-> ASSEMBLY_A -(frame_foo)-> ASSEMBLY_B
In the above case, ASSEMBLY_B will be omitted properly from the URDF in terms of meshes. HOWEVER, the expected frame does not appear.
FYI I fixed this in our fork by looking up the reassigned assembly after the assignation spreading step instead of the one returned by the API (which may be overwritten).