diff --git a/cpp/setup.py b/cpp/setup.py
index 7a8f145..f5f8530 100644
--- a/cpp/setup.py
+++ b/cpp/setup.py
@@ -127,7 +127,7 @@ def _parse_line(s):
     name="dm_robotics-controllers",
     package_dir={"dm_robotics.controllers": ""},
     packages=["dm_robotics.controllers"],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Python bindings for dm_robotics/cpp/controllers",
diff --git a/py/agentflow/setup.py b/py/agentflow/setup.py
index aa6c984..c37e900 100644
--- a/py/agentflow/setup.py
+++ b/py/agentflow/setup.py
@@ -52,17 +52,21 @@ def _parse_line(s):
         "dm_robotics.agentflow.rendering",
         "dm_robotics.agentflow.subtasks",
     ],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
-    description="Tools for single-embodiment, multiple-task, Reinforcement Learning",
+    description=(
+        "Tools for single-embodiment, multiple-task, Reinforcement Learning"
+    ),
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/agentflow",
     python_requires=">=3.7, <3.11",
     setup_requires=["wheel >= 0.31.0"],
-    install_requires=(_get_requirements("requirements.txt") +
-                      _get_requirements("requirements_external.txt")),
+    install_requires=(
+        _get_requirements("requirements.txt")
+        + _get_requirements("requirements_external.txt")
+    ),
     classifiers=[
         "Development Status :: 5 - Production/Stable",
         "Programming Language :: Python :: 3",
diff --git a/py/geometry/setup.py b/py/geometry/setup.py
index 1c548d7..3863bd3 100644
--- a/py/geometry/setup.py
+++ b/py/geometry/setup.py
@@ -27,6 +27,7 @@ def _get_requirements(requirements_file):  # pylint: disable=g-doc-args
   Lines starting with -r will be ignored. If the requirements are split across
   multiple files, call this function multiple times instead and sum the results.
   """
+
   def line_should_be_included(line):
     return line and not line.startswith("-r")
 
@@ -44,17 +45,22 @@ def _parse_line(s):
     name="dm_robotics-geometry",
     package_dir={"dm_robotics.geometry": ""},
     packages=["dm_robotics.geometry"],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
-    description="This library provides primitives for dealing with scene and robot geometry",
+    description=(
+        "This library provides primitives for dealing with scene and robot"
+        " geometry"
+    ),
     long_description=open("README.md").read(),
     long_description_content_type="text/markdown",
     url="https://github.com/deepmind/dm_robotics/tree/main/py/geometry",
     python_requires=">=3.7, <3.11",
     setup_requires=["wheel >= 0.31.0"],
-    install_requires=(_get_requirements("requirements.txt") +
-                      _get_requirements("requirements_external.txt")),
+    install_requires=(
+        _get_requirements("requirements.txt")
+        + _get_requirements("requirements_external.txt")
+    ),
     classifiers=[
         "Development Status :: 5 - Production/Stable",
         "Programming Language :: Python :: 3",
diff --git a/py/manipulation/setup.py b/py/manipulation/setup.py
index 93e03d7..4ddd294 100644
--- a/py/manipulation/setup.py
+++ b/py/manipulation/setup.py
@@ -52,7 +52,7 @@ def _parse_line(s):
         "dm_robotics.manipulation.props.utils",
         "dm_robotics.manipulation.standard_cell",
     ],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Parametrically defined mesh objects",
diff --git a/py/moma/setup.py b/py/moma/setup.py
index a7d4cf9..4c7a91b 100644
--- a/py/moma/setup.py
+++ b/py/moma/setup.py
@@ -56,7 +56,7 @@ def _parse_line(s):
         "dm_robotics.moma.models.end_effectors.wrist_sensors",
         "dm_robotics.moma.models.robots.robot_arms",
     ],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Tools for authoring robotic manipulation tasks.",
diff --git a/py/transformations/setup.py b/py/transformations/setup.py
index 5229812..b3b3dd6 100644
--- a/py/transformations/setup.py
+++ b/py/transformations/setup.py
@@ -38,7 +38,7 @@ def _parse_line(s):
     name="dm_robotics-transformations",
     package_dir={"dm_robotics.transformations": ""},
     packages=["dm_robotics.transformations"],
-    version="0.5.0",
+    version="0.6.0",
     license="Apache 2.0",
     author="DeepMind",
     description="A library for Rigid Body Transformations",