diff --git a/.github/workflows/deploy-and-publish.yml b/.github/workflows/deploy-and-publish.yml
new file mode 100644
index 0000000..cb31874
--- /dev/null
+++ b/.github/workflows/deploy-and-publish.yml
@@ -0,0 +1,41 @@
+name: deploy-and-publish
+
+on:
+  push:
+    branches:
+      - dev
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - dev
+
+jobs:
+  build:
+    name: build and deploy docs
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: 🔗 Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: 💎 Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: 💃 Build release
+        if: success() && startsWith(github.ref, 'refs/tags')
+        run: |
+          python setup.py clean --all sdist bdist_wheel
+      - name: 📦 Publish release to PyPI
+        if: success() && startsWith(github.ref, 'refs/tags')
+        run: |
+            twine check dist/*
+            twine upload dist/* --skip-existing
+        with:
+            TWINE_USERNAME: __token__
+            TWINE_PASSWORD: ${{ secrets.pypi_password }}
diff --git a/src/pybullet_planning/interfaces/env_manager/simulation.py b/src/pybullet_planning/interfaces/env_manager/simulation.py
index abb9e3e..ade7cd5 100644
--- a/src/pybullet_planning/interfaces/env_manager/simulation.py
+++ b/src/pybullet_planning/interfaces/env_manager/simulation.py
@@ -71,7 +71,7 @@ def restore(self):
            set_renderer(enable=self.state)
 
 
-def connect(use_gui=True, shadows=True, color=None, width=None, height=None):
+def connect(use_gui=True, shadows=True, color=None, width=None, height=None, mp4=None):
     # Shared Memory: execute the physics simulation and rendering in a separate process
     # https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/vrminitaur.py#L7
     # make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
@@ -85,11 +85,13 @@ def connect(use_gui=True, shadows=True, color=None, width=None, height=None):
         # options="--mp4=\"test.mp4\" --mp4fps=240"
         options = ''
         if color is not None:
-            options += '--background_color_red={} --background_color_green={} --background_color_blue={}'.format(*color)
+            options += ' --background_color_red={} --background_color_green={} --background_color_blue={}'.format(*color)
         if width is not None:
-            options += '--width={}'.format(width)
+            options += ' --width={}'.format(width)
         if height is not None:
-            options += '--height={}'.format(height)
+            options += ' --height={}'.format(height)
+        if mp4 is not None:
+            options += ' --mp4={}'.format(mp4)
         sim_id = p.connect(method, options=options) # key=None,
         #sim_id = p.connect(p.GUI, options="--opengl2") if use_gui else p.connect(p.DIRECT)
     assert 0 <= sim_id