Modify to have consistent usage

Modify to have consistent usage of `is_floating` and `is_mobile`.
Remove reference to `is_wmr` and replace with `is_mobile`.
Update all UI portions.
Fix regex pattern to match correctly to `is_floating` and `is_mobile`
terms when reading from PAR files.
Minor modification
Re-organise code in `pysymoro/dynamics.py`
Minor modification
Add IDyM computation for mobile robots

Add inverse dynamic model computation for mobile robots.
Move inverse dynamic model computation for fixed base robots to
`pysymoro/nealgos.py` and its dependency functions.
Add docstring to various Newton-Euler functions.
Update `direct_dynmodel()` function name to `floating_direct_dynmodel()`
in `pysymoro/nealgos.py`
Update `Robot` class methods

Update `Robot` class methods to call the correct dynamic model functions
from `nealgos` module.
Update UI and set correct base params for mobile robots
Fix UI bugs on new mobile robot creation