Updated to use new FindBody() API.
Updated to use new FindBody() API.

sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake