diff --git a/requirements.txt b/requirements.txt
index 8b6f2355d..0d43387b4 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,7 +2,8 @@
 numpy<1.24
 scipy
 gymnasium>=0.28.1
-sapien==2.2.2
+# TODO (stao): Change this to ==3.0.0 when sapien 3 is officially released
+sapien==3.0.0.dev.0
 # basic
 h5py
 pyyaml
diff --git a/setup.py b/setup.py
index b51f68e19..7a8d79e01 100644
--- a/setup.py
+++ b/setup.py
@@ -14,7 +14,7 @@ def read_requirements():
 
 setup(
     name="mani_skill2",
-    version="0.5.3",
+    version="0.6.0",
     description="ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills",
     long_description=long_description,
     long_description_content_type="text/markdown",