Fix some conversion issue.
Fix some conversion issue.

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