REmoved the sim parameter from the constructor.

Added a new structure: Class hierarchy to handle each of the robots modules.
Updated some examples.

Solved a bug in the function to check if the calibration of the IMU is done: it returned the inverse value.
Completed the IMU example.

Operational an example to test the IMU.

Solved a bug in the get_servo_angle() function: the registers address for the desired servo was not generated properly.
Solved a bug in the interpretation of negatives values of the current servo angles.

Added the current step to the action interface.

Removed the local copy of the dynamixel interface registers and used the firmware version.