Clean-up

  Switch to cmake,
  remove obsolete dependency to OpenHRP,
  merge hpp-python with hpp-corbaserver.
Remove methods that allowed creating and adding bodies.

  * This is now handled solely by the URDF parser.
Do not include non-existent header.
Comply with changes in kwsPlus package.

  * Distance factory creates CkwsMetric objects.
  * Set metric through config space.
Comply with modifications in bodies in hpp-model.
Merge branch topic/urdf of old repository on trac.laas.fr