diff --git a/optimization/py-crocoddyl/Makefile b/optimization/py-crocoddyl/Makefile
index ee58ce5ce..45f19d53a 100644
--- a/optimization/py-crocoddyl/Makefile
+++ b/optimization/py-crocoddyl/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			loco-3d
 NAME=			crocoddyl
-VERSION=		2.0.2
+VERSION=		2.1.0
 
 CATEGORIES=		optimization
 COMMENT=		Optimal control library for robot under contact sequence
diff --git a/optimization/py-crocoddyl/PLIST b/optimization/py-crocoddyl/PLIST
index 92c96d4aa..6ca0e4e35 100644
--- a/optimization/py-crocoddyl/PLIST
+++ b/optimization/py-crocoddyl/PLIST
@@ -125,6 +125,7 @@ include/crocoddyl/multibody/actions/free-invdyn.hpp
 include/crocoddyl/multibody/actions/free-invdyn.hxx
 include/crocoddyl/multibody/actions/impulse-fwddyn.hpp
 include/crocoddyl/multibody/actions/impulse-fwddyn.hxx
+include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp
 include/crocoddyl/multibody/actuations/floating-base.hpp
 include/crocoddyl/multibody/actuations/full.hpp
 include/crocoddyl/multibody/actuations/multicopter-base.hpp
@@ -205,6 +206,8 @@ lib/cmake/crocoddyl/cxx-standard.cmake
 lib/libcrocoddyl.so
 lib/pkgconfig/crocoddyl.pc
 ${PYTHON_SITELIB}/crocoddyl/__init__.py
+${PYTHON_SITELIB}/crocoddyl/crocoddyl.launch
+${PYTHON_SITELIB}/crocoddyl/crocoddyl.rviz
 ${PYTHON_SITELIB}/crocoddyl/deprecated.py
 ${PYTHON_SITELIB}/crocoddyl/examples/__init__.py
 ${PYTHON_SITELIB}/crocoddyl/examples/arm_manipulation_fwddyn.py
diff --git a/optimization/py-crocoddyl/distinfo b/optimization/py-crocoddyl/distinfo
index 973abc82c..9f3a2e781 100644
--- a/optimization/py-crocoddyl/distinfo
+++ b/optimization/py-crocoddyl/distinfo
@@ -1,3 +1,3 @@
-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
+SHA1 (crocoddyl-2.1.0.tar.gz) = 19f54ebf84c54b37815d39911036bc7c00ccf14b
+RMD160 (crocoddyl-2.1.0.tar.gz) = f80def4c85cda3c001f6f41a85615aad7c585112
+Size (crocoddyl-2.1.0.tar.gz) = 1634227 bytes