diff --git a/setup.py b/setup.py
index fc157bf..91b91d5 100644
--- a/setup.py
+++ b/setup.py
@@ -2,16 +2,25 @@ from distutils.core import setup
 from distutils.command.install_data import install_data
 
 
-import make_deb
-
-setup (name = "python-urx", 
-        version = make_deb.vcsstring,
+setup (name = "urx", 
+        version = ".8.0",
         description = "Python library to control an UR robot",
         author = "Olivier Roulet-Dubonnet",
+        author_email = "olivier.roulet@gmail.com",
         url = 'https://github.com/oroulet/python-urx',
         packages = ["urx"],
         provides = ["urx"],
         license = "GNU General Public License v3",
+
+        classifiers = [
+            "Programming Language :: Python",
+            "Programming Language :: Python :: 3",
+            "Development Status :: 4 - Beta",
+            "Intended Audience :: Developers",
+            "Operating System :: OS Independent",
+            "Topic :: System :: Hardware :: Hardware Drivers",
+            "Topic :: Software Development :: Libraries :: Python Modules",
+        ]
         )
 
 
diff --git a/urx/__init__.py b/urx/__init__.py
index d12d82a..77193e8 100644
--- a/urx/__init__.py
+++ b/urx/__init__.py
@@ -1,7 +1,7 @@
 """
 Python library to control an UR robot through its TCP/IP interface
 """
-__version__ = "0.8"
+__version__ = "0.8.0"
 
 
 
diff --git a/urx/robot.py b/urx/robot.py
index 1e80b00..7d8b9db 100644
--- a/urx/robot.py
+++ b/urx/robot.py
@@ -430,7 +430,6 @@ class Robot(URRobot):
         self.default_linear_velocity = 0.01
         self.csys_dict = {}
         self.csys = None
-        self.csys_inv = None
         self.set_csys("Robot", m3d.Transform()) #identity
 
     def set_tcp(self, tcp):
@@ -452,7 +451,6 @@ class Robot(URRobot):
         if matrix:
             self.add_csys(name, matrix)
         self.csys = self.csys_dict[name]
-        self.csys_inv = self.csys.inverse()
 
     def orient(self, orient, acc=None, vel=None, radius=0, wait=True):
         if type(orient) is not m3d.Orientation:
@@ -510,7 +508,7 @@ class Robot(URRobot):
         else:
             pose = URRobot.movel(self, t.pose_vector, acc=acc, vel=vel, wait=wait, radius=radius)
         if pose != None : #movel does not return anything when wait is False
-            return self.csys_inv * m3d.Transform(pose)
+            return self.csys.inverse * m3d.Transform(pose)
 
     set_transform = apply_transform #since we have set_pos, set_orient, we should be consistent and use set for tranform to ..
 
@@ -533,7 +531,7 @@ class Robot(URRobot):
         get current transform from base to to tcp
         """
         pose = URRobot.getl(self, wait)
-        trans = self.csys_inv * m3d.Transform(pose) 
+        trans = self.csys.inverse * m3d.Transform(pose) 
         return trans
 
     def get_pose(self, wait=False):