I am pulling my hair out trying to reposition a landing gear leg on a spacecraft.  So before I move the leg and with the green joint editor origins "on"  - the axis are lined up so that when I retract the legs on the x axis they bend in the right direction, the axis bends - all is good and the origins are oriented properly to the back end of the leg where the joint is. 

When I move the leg a few degrees over and rotate it along the y axis- retract still works but now the leg bends on the same X axis but "TWISTS" around etc. because I've rotated the y axis a bit to reorient the leg. It is not staying straight and is bending on two axises.

So-what would be the steps in getting the center points on the origin lined to the leg again AND have it bend correctly - i.e. stay perpendicular to the bottom the of craft as originally created?

I've dinked around with the dials - lined the green cross hairs up be the leg still doesn't bend right.  I can get it to work if I play around with the origins and the rotation but the green lines are then NOT lined up - they're rotated along the y and z .   How can you reset this properly?  Is there a tutorial step by step that would show something about this you can recommend? tks

Windows 10 - Poser Pro 2012 - 64Bit - 24GB RAM - 4 x 3.40 GHZ processor