Add python3.9 support

.appveyor-build-tag.yml

@@ -15,7 +15,11 @@ init:
   # - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
 
 install:
-  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;C:\msys64\usr\bin;%PATH%
+  # temporary workaround to install Python 3.9
+  - bash -lc "curl -O https://www.python.org/ftp/python/3.9.0/python-3.9.0-amd64.exe"
+  - cmd /c start /wait python-3.9.0-amd64.exe /quiet TargetDir="C:\Python39-x64" Shortcuts=0 Include_launcher=1 InstallLauncherAllUsers=1 Include_debug=1
+  # end of workaround
+  - set PATH=C:\Python39-x64;C:\Python39-x64\Scripts;C:\msys64\usr\bin;%PATH%
   - bash -lc "curl -O http://repo.msys2.org/msys/x86_64/msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz"
   - bash -lc "curl -O http://repo.msys2.org/msys/x86_64/msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig"
   - bash -lc "pacman-key --verify msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig"

.appveyor-build.yml

@@ -13,7 +13,11 @@ init:
   # - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
 
 install:
-  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;C:\msys64\usr\bin;%PATH%
+  # temporary workaround to install Python 3.9
+  - bash -lc "curl -O https://www.python.org/ftp/python/3.9.0/python-3.9.0-amd64.exe"
+  - cmd /c start /wait python-3.9.0-amd64.exe /quiet TargetDir="C:\Python39-x64" Shortcuts=0 Include_launcher=1 InstallLauncherAllUsers=1 Include_debug=1
+  # end of workaround
+  - set PATH=C:\Python39-x64;C:\Python39-x64\Scripts;C:\msys64\usr\bin;%PATH%
   - bash -lc "curl -O http://repo.msys2.org/msys/x86_64/msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz"
   - bash -lc "curl -O http://repo.msys2.org/msys/x86_64/msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig"
   - bash -lc "pacman-key --verify msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig msys2-keyring-r21.b39fb11-1-any.pkg.tar.xz.sig"

.github/workflows/test_suite_linux.yml

@@ -78,10 +78,10 @@ jobs:
       run: tar xjf artifact/webots-*-x86-64.tar.bz2 -C artifact
     - name: Install Webots Dependencies
       run: sudo scripts/install/linux_runtime_dependencies.sh
-    - name: Set up Python 3.8
+    - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.8
+        python-version: 3.9
     - name: Test Suite
       run: |
         export LIBGL_ALWAYS_SOFTWARE=true
@@ -103,10 +103,10 @@ jobs:
       run: tar xjf artifact/webots-*-x86-64.tar.bz2 -C artifact
     - name: Install Webots Dependencies
       run: sudo scripts/install/linux_runtime_dependencies.sh
-    - name: Set up Python 3.8
+    - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.8
+        python-version: 3.9
     - name: Update World
       run: |
         export LIBGL_ALWAYS_SOFTWARE=true

.github/workflows/test_suite_mac.yml

@@ -29,7 +29,8 @@ jobs:
          submodules: true
     - name: Install Webots Compilation Dependencies
       run: |
-        brew install cmake swig wget python@3.7
+        brew update  # required to get the python@3.9 formula
+        brew install swig wget python@3.7 python@3.9  # skip 'cmake' and 'python@3.8' because already installed
         npm install -g appdmg
         # install regular Python 3.7
         sudo mkdir -p /Library/Frameworks/Python.framework/Versions/3.7
@@ -39,13 +40,17 @@ jobs:
         sudo mkdir -p /Library/Frameworks/Python.framework/Versions/3.8
         wget -qq https://cyberbotics.com/files/repository/dependencies/mac/release/python3.8.zip -P dependencies
         sudo unzip -o -q dependencies/python3.8.zip -d /Library/Frameworks/Python.framework/Versions/3.8
+        # install regular Python 3.9
+        sudo mkdir -p /Library/Frameworks/Python.framework/Versions/3.9
+        wget -qq https://cyberbotics.com/files/repository/dependencies/mac/release/python3.9.zip -P dependencies
+        sudo unzip -o -q dependencies/python3.9.zip -d /Library/Frameworks/Python.framework/Versions/3.9
     - name: Set Commit SHA in Version
       if: ${{ github.event_name == 'schedule' }}
       run: python scripts/packaging/set_commit_and_date_in_version.py ${{ github.sha }}
     - name: Webots Package Creation
       run: |
         export JAVA_HOME="$(/usr/libexec/java_home -v 1.8)"
-        export PATH=/Library/Frameworks/Python.framework/Versions/3.8/bin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/local/bin/:$PATH
+        export PATH=/Library/Frameworks/Python.framework/Versions/3.9/bin:/Library/Frameworks/Python.framework/Versions/3.8/bin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/local/bin/:$PATH
         make distrib -j4
     - uses: actions/upload-artifact@v2
       with:
@@ -71,10 +76,10 @@ jobs:
         hdiutil mount artifact/webots-*.dmg
         sudo cp -R /Volumes/Webots/Webots.app /Applications
         hdiutil unmount /Volumes/Webots
-    - name: Set up Python 3.8
+    - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.8
+        python-version: 3.9
     - name: Test
       run:
         export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true

.github/workflows/tests_doc.yml

@@ -18,10 +18,10 @@ jobs:
         os: [ubuntu-latest]
     steps:
     - uses: actions/checkout@v2
-    - name: Set up Python 3.8
+    - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.8
+        python-version: 3.9
     - name: Tests
       run: |
         pip install -r docs/tests/requirements.txt

.github/workflows/tests_sources.yml

@@ -22,7 +22,7 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-16.04, ubuntu-18.04, ubuntu-20.04, macos-10.15]
-        python: [2.7, 3.8]
+        python: [2.7, 3.9]
         include:
           - os: ubuntu-16.04
             DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-9"
@@ -35,14 +35,14 @@ jobs:
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v2
-      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.8') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.9') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
     - name: Set up Python ${{ matrix.python }}
-      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.8') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.9') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python }}
     - name: Tests
-      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.8') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      if: (matrix.os == 'ubuntu-18.04' && matrix.python == '3.9') || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       run: |
         ${{ matrix.DEPENDENCIES_INSTALLATION }}
         cp dependencies/.clang-format-9 .clang-format

.travis.yml

@@ -224,7 +224,7 @@ jobs:
             - node
       before_install: &mac_before_install
         - brew update
-        - brew install python@3.7
+        - brew install python@3.7 python@3.9
         - export JAVA_HOME="$(/usr/libexec/java_home -v 1.8)"
         - npm install -g appdmg
         - pip install PyGithub  # used to upload packages to Github releases
@@ -234,6 +234,9 @@ jobs:
         - sudo mkdir -p /Library/Frameworks/Python.framework/Versions/3.8  # we can't use python3.8 from homebrew for the compilation because it is not compatible with the normal one
         - if [[ ! -f $WEBOTS_HOME/dependencies/python3.8.zip ]]; then wget -qq https://cyberbotics.com/files/repository/dependencies/mac/release/python3.8.zip -P $WEBOTS_HOME/dependencies; fi
         - sudo unzip -o -q $WEBOTS_HOME/dependencies/python3.8.zip -d /Library/Frameworks/Python.framework/Versions/3.8
+        - sudo mkdir -p /Library/Frameworks/Python.framework/Versions/3.9  # we can't use python3.9 from homebrew for the compilation because it is not compatible with the normal one
+        - if [[ ! -f $WEBOTS_HOME/dependencies/python3.9.zip ]]; then wget -qq https://cyberbotics.com/files/repository/dependencies/mac/release/python3.9.zip -P $WEBOTS_HOME/dependencies; fi
+        - sudo unzip -o -q $WEBOTS_HOME/dependencies/python3.9.zip -d /Library/Frameworks/Python.framework/Versions/3.9
       script:
         - if [[ -z "${TRAVIS_TAG}" ]]; then python scripts/packaging/set_commit_and_date_in_version.py $TRAVIS_COMMIT; fi
         - make distrib -j2

docs/guide/using-python.md

@@ -8,7 +8,7 @@ The Python API is currently composed of a set of about 25 classes having about 2
 The classes are either representations of a node of the scene tree (such as Robot, LED, etc.) or utility classes (such as Motion, ImageRef, etc.).
 A complete description of these functions can be found in the reference guide while the instructions about the common way to program a Python controller can be found in [this chapter](programming-fundamentals.md).
 
-The Python API of Webots supports Python versions 2.7, 3.7 and 3.8.
+The Python API of Webots supports Python versions 2.7, 3.7, 3.8 and 3.9.
 Please note that Python 2.7 is deprecated since January 1st, 2020 and should be avoided.
 On Ubuntu it also supports Python versions 3.5 and 3.6.
 
@@ -40,15 +40,15 @@ To check the versions of Python installed on your system, you can type in a term
 #### macOS Installation
 
 Python 2.7 installed by default.
-You can install Python 3.7 or 3.8 from the [Python web site](https://www.python.org) or using [Homebrew](https://brew.sh).
-To check the versions of Python installed on your system, you can type in a terminal: `python --version`, `python3.8 --version`, `python2.7 --version`, `python3 --version`, etc.
+You can install Python 3.7, 3.8 or 3.9 from the [Python web site](https://www.python.org) or using [Homebrew](https://brew.sh).
+To check the versions of Python installed on your system, you can type in a terminal: `python --version`, `python3.9 --version`, `python2.7 --version`, `python3 --version`, etc.
 
 > **Note**: To use Python 3.x on macOS, it is recommended to set the absolute path to the python3 executable (e.g. `/Library/Frameworks/Python.framework/Versions/3.x/bin/python3`) in the [`Python command` option of the Preferences](preferences.md#general).
 
 #### Windows Installation
 
-You should install the latest version of Python 3.7 (64 bit) or Python 2.7 (64 bit) from the official [Python website](https://www.python.org).
-Then, you have to modify your `PATH` environment variable to add the path to the `python.exe` binary which is located in the main `Python37` or `Python27` installation folder.
+You should install the latest version of Python 3.7 (64 bit), 3.8 (64 bit), 3.9 (64 bit) or 2.7 (64 bit) from the official [Python website](https://www.python.org).
+Then, you have to modify your `PATH` environment variable to add the path to the `python.exe` binary which is located in the main installation folder.
 To check this was done properly, you can open a DOS console (`CMD.EXE`) and type `python --version`.
 If it displays the correct Python version, then, everything is setup properly and you should be able to run the Python example provided with Webots in the `WEBOTS_HOME/projects/languages/python/worlds/example.wbt` world file.
 

docs/reference/changelog-r2020.md

@@ -3,6 +3,8 @@
 ## Webots R2020b Revision 2
 Released on XXX YYY, 2020.
 
+  - Enhancements
+    - Added support for Python 3.9 ([#2318](https://github.com/cyberbotics/webots/pull/2079)).
   - Bug fixes
     - Fixed recording of movies which was broken when the [WorldInfo](worldinfo.md).`basicTimeStep` was greater than 40 ([#2268](https://github.com/cyberbotics/webots/pull/2268)).
     - Fixed handling of <kbd>Ctrl</kbd> key on macOS from the [Keyboard](keyboard.md) API ([#2265](https://github.com/cyberbotics/webots/pull/2265)).

lib/controller/.gitignore

@@ -5,6 +5,8 @@
 /python36
 /python37
 /python38
+/python39
 /python37_brew
 /python38_brew
+/python39_brew
 /*.so.*

projects/default/libraries/vehicle/Makefile

@@ -39,10 +39,14 @@ endif
 	+PYTHON_COMMAND=python3.7 make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=python3.8 make -s -C python $(MAKECMDGOALS)
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=python3.9 make -s -C python $(MAKECMDGOALS)
 endif
 ifeq ($(OSTYPE),windows)
+	@echo "# make" $@ python3.9;
+	+PATH="$(PYTHON39_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.8;
-	+make -s -C python $(MAKECMDGOALS)
+	+PATH="$(PYTHON38_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.7;
 	+PATH="$(PYTHON37_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python2.7;
@@ -55,6 +59,8 @@ ifeq ($(OSTYPE),darwin)
 	+PYTHON_COMMAND=python3.7 make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=python3.8 make -s -C python $(MAKECMDGOALS)
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=python3.9 make -s -C python $(MAKECMDGOALS)
 endif
 
 

projects/default/libraries/vehicle/python/Makefile

@@ -56,14 +56,12 @@ endif
 ifeq ($(OSTYPE),darwin)
 ifeq ($(PYTHON_SHORT_VERSION), 27)
 PYTHON_PATH ?= /System/Library/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
-PYTHON_PYMALLOC =
 else
 PYTHON_PATH ?= /Library/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
-ifeq ($(PYTHON_SHORT_VERSION), 38)
-PYTHON_PYMALLOC =
-else
-PYTHON_PYMALLOC = m
 endif
+SKIP_PYTHON_PYMALLOC := 27 38 39
+ifeq ($(filter $(PYTHON_SHORT_VERSION),$(SKIP_PYTHON_PYMALLOC)),)
+PYTHON_PYMALLOC = m
 endif
 BREW_PYTHON_PATH = /usr/local/Cellar/python/$(PYTHON_FULL_VERSION)/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
 C_FLAGS          = -c -Wall -fPIC -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -stdlib=libc++

projects/robots/robotis/darwin-op/libraries/Makefile

@@ -54,10 +54,14 @@ endif
 	+PYTHON_COMMAND=python3.7 make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=python3.8 make -s -C python $(MAKECMDGOALS)
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=python3.9 make -s -C python $(MAKECMDGOALS)
 endif
 ifeq ($(OSTYPE),windows)
+	@echo "# make" $@ python3.9;
+	+PATH="$(PYTHON39_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.8;
-	+make -s -C python $(MAKECMDGOALS)
+	+PATH="$(PYTHON38_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python3.7;
 	+PATH="$(PYTHON37_HOME):$(PATH)" make -s -C python $(MAKECMDGOALS)
 	@echo "# make" $@ python2.7;
@@ -71,4 +75,7 @@ ifeq ($(OSTYPE),darwin)
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=python3.8 make -s -C python $(MAKECMDGOALS)
 	+make -f Makefile.mac $(MAKECMDGOALS)
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=python3.9 make -s -C python $(MAKECMDGOALS)
+	+make -f Makefile.mac $(MAKECMDGOALS)
 endif

projects/robots/robotis/darwin-op/libraries/python/Makefile

@@ -54,14 +54,12 @@ endif
 ifeq ($(OSTYPE),darwin)
 ifeq ($(PYTHON_SHORT_VERSION), 27)
 PYTHON_PATH ?= /System/Library/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
-PYTHON_PYMALLOC =
 else
 PYTHON_PATH ?= /Library/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
-ifeq ($(PYTHON_SHORT_VERSION), 38)
-PYTHON_PYMALLOC =
-else
-PYTHON_PYMALLOC = m
 endif
+SKIP_PYTHON_PYMALLOC := 27 38 39
+ifeq ($(filter $(PYTHON_SHORT_VERSION),$(SKIP_PYTHON_PYMALLOC)),)
+PYTHON_PYMALLOC = m
 endif
 BREW_PYTHON_PATH = /usr/local/Cellar/python/$(PYTHON_FULL_VERSION)/Frameworks/Python.framework/Versions/$(PYTHON_VERSION)
 C_FLAGS          = -c -Wall -fPIC -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -stdlib=libc++

projects/robots/robotis/darwin-op/libraries/python39/.gitignore

@@ -0,0 +1,2 @@
+/managers.py
+/_managers.pyd

resources/languages/Makefile

@@ -34,10 +34,14 @@ endif
 	+PYTHON_COMMAND=python3.7 make -s -C python $@
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=python3.8 make -s -C python $@
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=python3.9 make -s -C python $@
 endif
 ifeq ($(OSTYPE),windows)
+	@echo "# make" $@ python3.9;
+	+PATH="$(PYTHON39_HOME):$(PATH)" make -s -C python $@
 	@echo "# make" $@ python3.8;
-	+make -s -C python $@
+	+PATH="$(PYTHON38_HOME):$(PATH)" make -s -C python $@
 	@echo "# make" $@ python3.7;
 	+PATH="$(PYTHON37_HOME):$(PATH)" make -s -C python $@
 	@echo "# make" $@ python2.7;
@@ -50,8 +54,12 @@ ifeq ($(OSTYPE),darwin)
 	+PYTHON_COMMAND=/Library/Frameworks/Python.framework/Versions/3.7/bin/python3.7 make -s -C python $@
 	@echo "# make" $@ python3.8;
 	+PYTHON_COMMAND=/Library/Frameworks/Python.framework/Versions/3.8/bin/python3.8 make -s -C python $@
+	@echo "# make" $@ python3.9;
+	+PYTHON_COMMAND=/Library/Frameworks/Python.framework/Versions/3.9/bin/python3.9 make -s -C python $@
 	@echo "# make" $@ python3.7 brew;
 	+PYTHON_COMMAND=/usr/local/opt/python@3.7/bin/python3.7 SUFFIX=_brew make -s -C python $@
 	@echo "# make" $@ python3.8 brew;
 	+PYTHON_COMMAND=/usr/local/opt/python@3.8/bin/python3.8 SUFFIX=_brew make -s -C python $@
+	@echo "# make" $@ python3.9 brew;
+	+PYTHON_COMMAND=/usr/local/opt/python@3.9/bin/python3.9 SUFFIX=_brew make -s -C python $@
 endif

resources/languages/python/Makefile

@@ -50,15 +50,10 @@ endif
 
 ifeq ($(OSTYPE),darwin)
 PYTHON_PATH = $(shell $(PYTHON_COMMAND) -u -c "import sys; print(sys.exec_prefix)")
-ifeq ($(PYTHON_SHORT_VERSION), 27)
-PYTHON_PYMALLOC =
-else
-ifeq ($(PYTHON_SHORT_VERSION), 38)
-PYTHON_PYMALLOC =
-else
+SKIP_PYTHON_PYMALLOC := 27 38 39
+ifeq ($(filter $(PYTHON_SHORT_VERSION),$(SKIP_PYTHON_PYMALLOC)),)
 PYTHON_PYMALLOC = m
 endif
-endif
 PYTHON_BIN       = $(PYTHON_PATH)/bin/
 C_FLAGS          = -c -Wall -fPIC -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -Wno-uninitialized
 ifeq ($(findstring llvm-g++,$(shell ls -lF $(shell which c++ 2> /dev/null))),)

scripts/install/bash_profile.windows

@@ -6,6 +6,7 @@
 # export PYTHON27_HOME=/C/Python27                                                 # Optionally defines the path to Python 2.7 home.
 # export PYTHON37_HOME=/C/Program\ Files/Python37                                  # Optionally defines the path to Python 3.7 home.
 # export PYTHON38_HOME=/C/Program\ Files/Python38                                  # Optionally defines the path to Python 3.8 home.
+# export PYTHON39_HOME=/C/Program\ Files/Python39                                  # Optionally defines the path to Python 3.9 home.
 # export MATLAB_HOME=/C/Program\ Files/MATLAB/R2018b                               # Optionally defines the path to MATLAB home.
 # export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio 10.0"  # Optionally defines the path to Microsoft Visual Studio home.
 # export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"                     # Optionally defines the path to Inno Setup home.

scripts/install/linux_optional_compilation_dependencies.sh

@@ -9,7 +9,7 @@ fi
 apt install --yes software-properties-common
 add-apt-repository -y ppa:deadsnakes/ppa
 apt update
-apt install --yes lsb-release wget python3.5-dev python3.6-dev python3.7-dev python3.8-dev
+apt install --yes lsb-release wget python3.5-dev python3.6-dev python3.7-dev python3.8-dev python3.9-dev
 
 UBUNTU_VERSION=$(lsb_release -rs)
 if [[ $UBUNTU_VERSION == "16.04" ]]; then

scripts/install/msys.sh

@@ -7,6 +7,6 @@ cd ~
 else
 WINDOWS_DRIVE=${1:1:1}:\\${1:3}
 export WEBOTS_HOME=${WINDOWS_DRIVE////\\}
-export PATH="$PYTHON38_HOME:$PYTHON38_HOME/Scripts:$1/msys64/mingw64/bin":/mingw64/bin:/usr/bin:$JAVA_HOME/bin:/c/WINDOWS/system32:/c/WINDOWS:$MATLAB_HOME/bin:$1/bin/node
+export PATH="$PYTHON39_HOME:$PYTHON39_HOME/Scripts:$1/msys64/mingw64/bin":/mingw64/bin:/usr/bin:$JAVA_HOME/bin:/c/WINDOWS/system32:/c/WINDOWS:$MATLAB_HOME/bin:$1/bin/node
 cd "$1"
 fi

scripts/packaging/files_core.txt

@@ -116,6 +116,15 @@ lib/controller/python38_brew/ [mac]
 lib/controller/python38_brew/*.py [mac]
 lib/controller/python38_brew/_*.so [mac]
 
+lib/controller/python39/
+lib/controller/python39/*.py
+lib/controller/python39/_*.so [linux,mac]
+lib/controller/python39/_*.pyd [windows]
+
+lib/controller/python39_brew/ [mac]
+lib/controller/python39_brew/*.py [mac]
+lib/controller/python39_brew/_*.so [mac]
+
 lib/controller/matlab/
 lib/controller/matlab/allincludes.h
 lib/controller/matlab/*.m