diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 43169c965..b6a18117c 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -26,3 +26,13 @@ After you make changes, be sure to add any necessary tests to cover any new code
 coverage run --source=mani_skill2/ -a -m pytest tests # run tests
 coverage html --include=mani_skill2/**/*.py # see the test coverage results
 ```
+
+
+## Building
+
+Adapted from https://packaging.python.org/en/latest/tutorials/packaging-projects/. For some reason running build directly does not work, you have to pass in -s and -w.
+
+```
+python3 -m build -s -w
+python3 -m twine upload --repository testpypi dist/*
+```
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 2e12c6a14..b51f68e19 100644
--- a/setup.py
+++ b/setup.py
@@ -14,7 +14,7 @@ def read_requirements():
 
 setup(
     name="mani_skill2",
-    version="0.5.2",
+    version="0.5.3",
     description="ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills",
     long_description=long_description,
     long_description_content_type="text/markdown",