diff --git a/optimization/py-crocoddyl/Makefile b/optimization/py-crocoddyl/Makefile
index 350cf01ee..52234745a 100644
--- a/optimization/py-crocoddyl/Makefile
+++ b/optimization/py-crocoddyl/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			loco-3d
 NAME=			crocoddyl
-VERSION=		2.0.1
+VERSION=		2.0.2
 
 CATEGORIES=		optimization
 COMMENT=		Optimal control library for robot under contact sequence
@@ -31,6 +31,7 @@ include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../math/py-eigenpy/depend.mk
 include ../../math/py-pinocchio/depend.mk
+include ../../optimization/ipopt/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../robots/example-robot-data/depend.mk
diff --git a/optimization/py-crocoddyl/PLIST b/optimization/py-crocoddyl/PLIST
index 97f445469..92c96d4aa 100644
--- a/optimization/py-crocoddyl/PLIST
+++ b/optimization/py-crocoddyl/PLIST
@@ -147,8 +147,6 @@ include/crocoddyl/multibody/data/contacts.hpp
 include/crocoddyl/multibody/data/impulses.hpp
 include/crocoddyl/multibody/data/multibody.hpp
 include/crocoddyl/multibody/force-base.hpp
-include/crocoddyl/multibody/frames-deprecated.hpp
-include/crocoddyl/multibody/frames.hpp
 include/crocoddyl/multibody/friction-cone.hpp
 include/crocoddyl/multibody/friction-cone.hxx
 include/crocoddyl/multibody/fwd.hpp
diff --git a/optimization/py-crocoddyl/distinfo b/optimization/py-crocoddyl/distinfo
index 33729bf56..973abc82c 100644
--- a/optimization/py-crocoddyl/distinfo
+++ b/optimization/py-crocoddyl/distinfo
@@ -1,3 +1,3 @@
-SHA1 (crocoddyl-2.0.1.tar.gz) = 64bf63e14304e03128ed21ce13587efb78638858
-RMD160 (crocoddyl-2.0.1.tar.gz) = b709f0068fa1a5e13d4fe36620ef00b67cffc731
-Size (crocoddyl-2.0.1.tar.gz) = 1598734 bytes
+SHA1 (crocoddyl-2.0.2.tar.gz) = 5b721f49fba052b12038fbf438680a50824346a4
+RMD160 (crocoddyl-2.0.2.tar.gz) = 65fc7f007fd45daf75b0474de174e90627d92893
+Size (crocoddyl-2.0.2.tar.gz) = 1615234 bytes