Develop

Hey Dan,
Since I've been using the hubo-ach console a lot, I've noticed some bugginess with it. Rather than bug you with bunches of tiny issue requests, I just fixed them myself. The first two commits are just minor improvements to hubo-console. The third diff is bigger, but basically just enforces that the joint string being passed to a command is valid. In the past, if I made a joint name typo it could cause unusual behavior (I've had it home the RHP on typos). Let me know what you think!