I want to add a menu of taxonomy terms to the menu section of my site. For example, let's say I have a vocabulary named "Color" with terms: Red, Green, Blue. I want to add a menu item called Color that has Red, Green, and Blue as sub menu items.

Apparently taxonomy_menu module does this. However, one problem. It generates URL's such as category/1/1 that don't play nice with pathauto. I want the URL for the menu items to be like:

http://www.example.com/Color/Red
http://www.example.com/Color/Blue

Anybody know what I'm talking about and have a workaround?