Added more functions to kautham shell
Added models_folder parameter when opening problems in kautham console
Geometry color now is read in urdf files
Improvements in kautham_console (addded test option to verify all the kautham_shell functions) and kautham_shell (allows streams as input of many of its functions like openProblem, setPlanner,...)
merging imrovements of kautham_sell

Merge branch 'master' of ssh://ris.upc.es/gitroot/kautham