diff --git a/.github/workflows/gradle-test.yml b/.github/workflows/gradle-test.yml
new file mode 100644
index 0000000..3a1f3a6
--- /dev/null
+++ b/.github/workflows/gradle-test.yml
@@ -0,0 +1,16 @@
+name: Gradle test
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - develop
+  pull_request:
+
+permissions:
+  checks: write
+  contents: read
+
+jobs:
+  gradle-test:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
diff --git a/build.gradle.kts b/build.gradle.kts
index e9bb67d..eb9d753 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,7 +6,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "0.2.0"
+   version = "0.2.1"
    vcsUrl = "https://github.com/ihmcrobotics/ihmc-messager"
    openSource = true
 
@@ -16,7 +16,7 @@ ihmc {
 
 mainDependencies {
    api("net.sf.trove4j:trove4j:3.0.3")
-   api("us.ihmc:ihmc-commons:0.32.0")
+   api("us.ihmc:ihmc-commons:0.34.0")
    api("us.ihmc:log-tools:0.6.3")
 }
 
@@ -39,5 +39,5 @@ examplesDependencies {
 testDependencies {
    api(ihmc.sourceSetProject("kryo"))
    api(ihmc.sourceSetProject("examples"))
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
+   api("us.ihmc:ihmc-commons-testing:0.34.0")
 }