Added ability to convert from code back to commands in JSON translator. Closes gh-79
Fixed typo
Removed intermediate 'commands' representation as was not used outside of translator and did not make sense for JSON. JSON now records all enabled joints as well as just changes in order to enable later conversion to FluentNAO. Implemented code to reverse current translator and run another translator on the result. Closes gh-80
First 'add keyframe' after 'read joints' had no effect. Closes gh-85