Remove Tao from code

This is a high-pri issue. Almost all major bugs today can be traced back to tao and/or jspace. The lack of good commenting has made it hard to clean up the code.

Moreover, the intermediate jspace wrapper does not use scl's numerous data structures, which has created a lot of cruft code.

In view of the recent development of scl dynamics with all the basic algorithms, and c3d dynamics with a physically validated articulated body contact and great integrators, tao/jspace is now almost completely obsolete.

There will be a phase where scl dynamics' performance will lag. But once we implement the O(n) inertia computation, things should be fine. Moreover, this might be possible to pull from c3d anyway.

Judgment : Remove tao dependencies asap!

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