diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
new file mode 100644
index 0000000..51a131e
--- /dev/null
+++ b/.github/workflows/generate-docs.yml
@@ -0,0 +1,67 @@
+name: Generate Documentation
+on:
+  push:
+    branches:
+      - master
+      - auto-docs
+  workflow_dispatch:
+jobs:
+  build-docs:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout source repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.11'
+      - name: install dependencies required by glfw/mujoco
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libosmesa6-dev libgl1 libglu1-mesa freeglut3-dev
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install PyOpenGL PyOpenGL-accelerate
+          pip install -e .
+          pip install pdoc black loguru ks_digital_twin
+      - name: Generate documentation
+        run: |
+          export MUJOCO_GL=osmesa
+          export PYTHONPATH=$PYTHONPATH:$(pwd)
+          export PDOC_ALLOW_EXEC=1
+          pdoc --output-dir ./docs kos_sim
+        env:
+          MUJOCO_GL: osmesa
+          PDOC_ALLOW_EXEC: 1
+      - name: Setup GitHub CLI
+        run: |
+          gh auth setup-git
+          gh auth status
+        env:
+          GH_TOKEN: ${{ secrets.API_DOCS_TOKEN }}
+      - name: Checkout api-docs repository
+        uses: actions/checkout@v4
+        with:
+          repository: kscalelabs/api-docs
+          path: api-docs
+          token: ${{ secrets.API_DOCS_TOKEN }}
+      - name: Copy documentation to api-docs
+        run: |
+          mkdir -p api-docs/kos_sim
+          cp -r docs/kos_sim/* api-docs/kos_sim/
+      - name: Push directly to master branch
+        run: |
+          cd api-docs
+          git config user.name "GitHub Actions"
+          git config user.email "actions@github.com"
+          # Add and commit changes
+          git add .
+          git commit -m "Update documentation from ${{ github.sha }}" || { echo "No changes to commit"; exit 0; }
+          # Push to the repository with token authentication
+          git remote set-url origin "https://x-access-token:${{ secrets.API_DOCS_TOKEN }}@github.com/kscalelabs/api-docs.git"
+          git push origin master
+        env:
+          GH_TOKEN: ${{ secrets.API_DOCS_TOKEN }}