updating wingeron urdf colors and forest geometry.  don't need separate URDF for displaying collision geometry anymore.
Fix #95.

Uninitialized `kinsol` as argument to `collisionDetect` was causing a crash if
the test failed. Replaced `kinsol` with `q0`.
Merge pull request #96 from avalenzu/collision-minor-changes

Fix #95.
Create a common parent class NonlinearProgramWKinsol class for InverseKin and InverseKinTraj. Should be easier to write code for dynamic planning
change the test criteria in testIK. Now I only check if the constraints are satisfied, but do not require that the solution from inverseKin MATLAB/C++ and InverseKin to be the same.
1.fix a bug in InverseKinTraj when adding the QuasiStaticConstraint
2.change the test file for inverseKinTraj. Now it checks if each constraint is satisfied.