[wip/jrl-walkgen-v3][patch] minor patch. Frame Name BODY is defined as body in Romeo

jrl-walkgen-v3/distinfo

@@ -2,3 +2,4 @@ SHA1 (jrl-walkgen-v3-4.0.1.tar.gz) = d7aeee11b6ae5ab7690515ed48cee1a9598bfbf4
 RMD160 (jrl-walkgen-v3-4.0.1.tar.gz) = d9cde5fea97fea17256076ad2a228a44a3ef1e6c
 Size (jrl-walkgen-v3-4.0.1.tar.gz) = 15455904 bytes
 SHA1 (patch-aa) = 2fbf0817b8a829ee93cd7927d056f5332467d254
+SHA1 (patch-ab) = c1ea22904391d7a3ddc3467a5487b9361000186f

jrl-walkgen-v3/patches/patch-ab

+diff --git src/RobotDynamics/pinocchiorobot.cpp src/RobotDynamics/pinocchiorobot.cpp
+index 951e0b5..78859d8 100644
+--- src/RobotDynamics/pinocchiorobot.cpp
++++ src/RobotDynamics/pinocchiorobot.cpp
+@@ -102,7 +102,7 @@ bool PinocchioRobot::checkModel(se3::Model * robotModel)
+     throw std::invalid_argument(exception_message);
+     return false ;
+   }
+-  if(!robotModel->existFrame("BODY"))
++  if(!robotModel->existFrame("BODY") && !robotModel->existFrame("body"))
+   {
+     m_boolModel=false;
+     const std::string exception_message ("BODY is not a valid body name");
+@@ -146,7 +146,7 @@ bool PinocchioRobot::initializeRobotModelAndData(se3::Model * robotModel,
+   // initialize the short cut for the joint ids
+   se3::FrameIndex chest = m_robotModel->getFrameId("torso");
+   m_chest = m_robotModel->frames[chest].parent ;
+-  se3::FrameIndex waist = m_robotModel->getFrameId("BODY");
++  se3::FrameIndex waist = (robotModel->existFrame("BODY"))?m_robotModel->getFrameId("BODY"):m_robotModel->getFrameId("body");
+   m_waist = m_robotModel->frames[waist].parent ;
+   se3::FrameIndex ra = m_robotModel->getFrameId("r_ankle");
+   m_rightFoot.associatedAnkle = m_robotModel->frames[ra].parent ;