diff --git a/py-crocoddyl/Makefile b/py-crocoddyl/Makefile
index 215bb6637c6de826b53b8490195084d067474989..acd0f145346799b3b0827ec2b13d38172d720bd4 100644
--- a/py-crocoddyl/Makefile
+++ b/py-crocoddyl/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			loco-3d
 NAME=			crocoddyl
-VERSION=		0.1.0
+VERSION=		0.2.0
 
 DISTNAME=		${NAME}-${VERSION}
 PKGNAME=		${PKGTAG.python-}${DISTNAME}
@@ -23,6 +23,8 @@ CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
 DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
 
 include ../../wip/example-robot-data/depend.mk
+include ../../wip/multicontact-api/depend.mk
+include ../../wip/py-multicontact-api/depend.mk
 include ../../graphics/assimp/depend.mk
 include ../../graphics/urdfdom/depend.mk
 include ../../mapping/octomap/depend.mk
diff --git a/py-crocoddyl/PLIST b/py-crocoddyl/PLIST
index 46f57df8c98fc79935a0c7073fa2e9bee78e3072..72c749dbd1c41e77fef4b2b838684f812860d351 100644
--- a/py-crocoddyl/PLIST
+++ b/py-crocoddyl/PLIST
@@ -3,6 +3,8 @@ ${PYTHON_SITELIB}/crocoddyl/__init__.py
 ${PYTHON_SITELIB}/crocoddyl/action.py
 ${PYTHON_SITELIB}/crocoddyl/activation.py
 ${PYTHON_SITELIB}/crocoddyl/actuation.py
+${PYTHON_SITELIB}/crocoddyl/box_ddp.py
+${PYTHON_SITELIB}/crocoddyl/box_kkt.py
 ${PYTHON_SITELIB}/crocoddyl/callbacks.py
 ${PYTHON_SITELIB}/crocoddyl/contact.py
 ${PYTHON_SITELIB}/crocoddyl/cost.py
@@ -14,8 +16,15 @@ ${PYTHON_SITELIB}/crocoddyl/floating_contact.py
 ${PYTHON_SITELIB}/crocoddyl/impact.py
 ${PYTHON_SITELIB}/crocoddyl/integrated_action.py
 ${PYTHON_SITELIB}/crocoddyl/kkt.py
+${PYTHON_SITELIB}/crocoddyl/locomotion/__init__.py
+${PYTHON_SITELIB}/crocoddyl/locomotion/centroidal_phi.py
+${PYTHON_SITELIB}/crocoddyl/locomotion/contact_sequence_wrapper.py
+${PYTHON_SITELIB}/crocoddyl/locomotion/problem_definition.py
+${PYTHON_SITELIB}/crocoddyl/locomotion/spline_utils.py
+${PYTHON_SITELIB}/crocoddyl/qpsolvers.py
 ${PYTHON_SITELIB}/crocoddyl/robots.py
 ${PYTHON_SITELIB}/crocoddyl/shooting.py
+${PYTHON_SITELIB}/crocoddyl/solver.py
 ${PYTHON_SITELIB}/crocoddyl/state.py
 ${PYTHON_SITELIB}/crocoddyl/unicycle.py
 ${PYTHON_SITELIB}/crocoddyl/utils.py
diff --git a/py-crocoddyl/distinfo b/py-crocoddyl/distinfo
index 9129bcd8cf52fc83f26c491c05bb2455d476b3eb..f9cf60f7b1ea8b96e573b1ecaef59f4a88b7a3de 100644
--- a/py-crocoddyl/distinfo
+++ b/py-crocoddyl/distinfo
@@ -1,5 +1,5 @@
-SHA1 (crocoddyl-0.1.0.tar.gz) = 558a210caa38ba6f1fa79c8c2158ab09b711e069
-RMD160 (crocoddyl-0.1.0.tar.gz) = a453fe95e909f255e96b8120cc95a776b343369c
-Size (crocoddyl-0.1.0.tar.gz) = 3099832 bytes
+SHA1 (crocoddyl-0.2.0.tar.gz) = 1e2477023d5971d4bd8e20941265cff09edfc9cd
+RMD160 (crocoddyl-0.2.0.tar.gz) = 8c2f7590a782b4fd7d031f2d3bf5d472b44fc0e0
+Size (crocoddyl-0.2.0.tar.gz) = 2052086 bytes
 SHA1 (patch-ab) = 83aeb011c56e1d2a9d4da3efae6d2904b207cf06
 SHA1 (patch-ad) = 9731f90f2c33abec026a1d34cfaa653316b84427