From 4083f9d9e09f9a7aa2e3ed62f82f1fe895807082 Mon Sep 17 00:00:00 2001
From: olivier R-D <olivier@loke>
Date: Wed, 27 Apr 2016 15:15:09 +0200
Subject: [PATCH] changes in rx properties. return 0 as returning axis angle
 value does not seem helpfull at that level

---
 urx/robot.py | 27 ++++++++++++---------------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/urx/robot.py b/urx/robot.py
index 88cff47..3e07d1e 100644
--- a/urx/robot.py
+++ b/urx/robot.py
@@ -261,36 +261,33 @@ class Robot(URRobot):
 
     @property
     def rx(self):
-        p = self.getl()
-        return p[3]
+        return 0
 
     @rx.setter
     def rx(self, val):
-        p = self.getl()
-        p[3] = val
-        self.movel(p)
+        p = self.get_pose()
+        p.orient.rotate_xb(val)
+        self.set_pose(p)
 
     @property
     def ry(self):
-        p = self.getl()
-        return p[4]
+        return 0
 
     @ry.setter
     def ry(self, val):
-        p = self.getl()
-        p[4] = val
-        self.movel(p)
+        p = self.get_pose()
+        p.orient.rotate_yb(val)
+        self.set_pose(p)
 
     @property
     def rz(self):
-        p = self.getl()
-        return p[5]
+        return 0
 
     @rz.setter
     def rz(self, val):
-        p = self.getl()
-        p[5] = val
-        self.movel(p)
+        p = self.get_pose()
+        p.orient.rotate_zb(val)
+        self.set_pose(p)
 
     @property
     def x_t(self):