Chris

This fixes that issue. You can set while running VIM and after loading your plugins.

There are [bindings to python](https://github.com/llvm-mirror/clang/tree/master/bindings/python) which could probably be used. I'm looking at it at the moment.

I restored the joint reset and it is working as expected now, I have left the model_state restoration commented out. Yeah I verified it was the model_state service causing the...

Seems to work just as well doing the reset_models and then the others ¯\\\_(ツ)\_/¯