diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 0000000..a34055f
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,41 @@
+# This is a basic workflow to help you get started with Actions
+
+name: CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  ci:
+    strategy:
+      matrix:
+        python-version: [3.6, 3.7, 3.8]
+    runs-on: ubuntu-18.04
+    env:
+      LD_LIBRARY_PATH: /home/runner/.mujoco/mujoco200/bin
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install Poetry
+        run: pip install poetry
+      - name: Install Mujoco Dependencies
+        run: sudo apt install libosmesa6-dev libglfw3 libglew-dev patchelf libgl1-mesa-glx -y
+      - name: Install Mujoco
+        run: |
+          mkdir ~/.mujoco
+          curl -sO https://www.roboti.us/download/mujoco200_linux.zip
+          unzip mujoco200_linux.zip
+          mv mujoco200_linux ~/.mujoco/mujoco200
+          echo "${{ secrets.MUJOCO_KEY }}" > ~/.mujoco/mjkey.txt
+      - name: Run tests
+        run: |
+          poetry install
+          poetry run python -m pip freeze
+          poetry run test