Re-organise code
Remove unnecessary code
Fix symbols naming issue in dynamic identification model
Add new file - `pysymoro/dyniden.py`
Add `compute_dynidenmodel()` method to `Robot` class
Re-factor dynamic identification model code

Move dynamic identification model code to `pysymoro/dyniden.py`.
Update to UI calls

Update UI to call the correct dynamic identification model function.
Fix object names
Update to include base in computation

Update to include base in computation of the dynamic identification
model.
Also add support for mobile and floating base robots.
Minor modification