diff --git a/README.md b/README.md
index ad8c7f8..e460b8e 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 Tools that combine the MuJoCo simulator with ROS. Meant to recreate a base port of [gazebo\_ros\_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs) for MuJoCo.
 
 This is a ROS software Project that wraps the [MuJoCo physics engine](https://mujoco.org/) into a ROS package.
-It is an extension of the MuJoCo [simulate](https://github.com/deepmind/mujoco/blob/2.1.1/sample/simulate.cc) program, with ROS integration and the possibility to load plugins via pluginlib.
+It is an extension of the MuJoCo [simulate](https://github.com/deepmind/mujoco/blob/3.2.0/sample/simulate.cc) program, with ROS integration and the possibility to load plugins via pluginlib.
 
 ### ROS Versions
 
@@ -18,7 +18,7 @@ CodeCov | [![codecov](https://codecov.io/gh/ubi-agni/mujoco_ros_pkgs/branch/noet
 
 
 # Build Instructions
-1. Make sure MuJoCo is installed (the current build uses version 2.3.7) and runs on your machine.
+1. Make sure MuJoCo is installed (the current build uses version 3.2.0) and runs on your machine.
 2. Create a new ROS workspace or include this repository into an existing workspace.
 3. Before building, make sure that your compiler knows where to find the MuJoCo library, e.g. by running
 ```bash
@@ -26,7 +26,7 @@ export MUJOCO_DIR=PATH/TO/MUJOCO/DIR
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MUJOCO_DIR/lib
 export LIBRARY_PATH=$LIBRARY_PATH:$MUJOCO_DIR/lib
 ```
-where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-2.3.7` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
+where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-3.2.0` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
 
 4. Build with `catkin_build`, `catkin b` or `colcon build`.
 5. Source your workspace and try `roslaunch mujoco_ros launch_server.launch use_sim_time:=true` to test if it runs.
diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index a5c6f01..e1cd55d 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -1,5 +1,5 @@
-<a name="unreleased"></a>
-## Unreleased
+<a name="0.9.0"></a>
+## [0.9.0] - 2024-07-31
 
 ### Added
 * Mocap plugin to programmatically control mocap bodies.
@@ -262,7 +262,7 @@ Contributors: @DavidPL1, @balandbal
 
 Contributors: @DavidPL1
 
-[unreleased]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.8.0...HEAD
+[0.9.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.8.0...0.9.0
 [0.8.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.7.0...0.8.0
 [0.7.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.6.0...0.7.0
 [0.6.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.5.0...0.6.0
diff --git a/mujoco_ros/package.xml b/mujoco_ros/package.xml
index 978d554..b2a51f0 100644
--- a/mujoco_ros/package.xml
+++ b/mujoco_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>The mujoco_ros package</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>
diff --git a/mujoco_ros_control/package.xml b/mujoco_ros_control/package.xml
index 570aab0..511ff31 100644
--- a/mujoco_ros_control/package.xml
+++ b/mujoco_ros_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_control</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>The mujoco_ros_control package</description>
 
   <url type="repository">https://github.com/DavidPL1/mujoco_ros_pkgs</url>
diff --git a/mujoco_ros_mocap_plugin/package.xml b/mujoco_ros_mocap_plugin/package.xml
index 2d1c0a2..bade401 100644
--- a/mujoco_ros_mocap_plugin/package.xml
+++ b/mujoco_ros_mocap_plugin/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_mocap</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>The mujoco_ros_mocap plugin package</description>
 
   <url type="repository">https://github.com/ubi-agni/mujoco_ros_pkgs</url>
diff --git a/mujoco_ros_msgs/package.xml b/mujoco_ros_msgs/package.xml
index 2f3a8e3..690da70 100644
--- a/mujoco_ros_msgs/package.xml
+++ b/mujoco_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_msgs</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>mujoco_ros_msgs provides message files for interaction with a mujoco_ros simulation</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David Leins</maintainer>
diff --git a/mujoco_ros_pkgs/package.xml b/mujoco_ros_pkgs/package.xml
index c8e8f1f..798e720 100644
--- a/mujoco_ros_pkgs/package.xml
+++ b/mujoco_ros_pkgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
     <name>mujoco_ros_pkgs</name> <!-- This is a meta package! -->
-    <version>0.8.0</version>
+    <version>0.9.0</version>
     <description>Interface for using ROS with the <a href="https://mujoco.org/">MuJoCo</a> simulator.</description>
 
     <license>BSD</license>
diff --git a/mujoco_ros_sensors/package.xml b/mujoco_ros_sensors/package.xml
index 509f610..08670c4 100644
--- a/mujoco_ros_sensors/package.xml
+++ b/mujoco_ros_sensors/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_sensors</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>Sensor plugin for mujoco_ros</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>