Put Inertia in the good frame when loading it from amelif xml.
Put Inertia in the good frame when loading it from amelif xml.

gergondet/RBDyn,jrl-umi3218/RBDyn,gergondet/RBDyn,gergondet/RBDyn,gergondet/RBDyn,jrl-umi3218/RBDyn,gergondet/RBDyn,jrl-umi3218/RBDyn,jrl-umi3218/RBDyn