diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index c0652cd0..a0fcdcba 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -209,11 +209,11 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
+          cache: 'pip'
+          cache-dependency-path: .github/workflows/requirements.txt
 
       - name: Install dependencies
-        run: |
-          pip install pylint "git+https://github.com/gabryelreyes/SerialMuxProt.git#egg=SerialMuxProt&subdirectory=python/SerialMuxProt"
+        run: pip install -r .github/workflows/requirements.txt
 
       - name: Analysing the code with pylint
-        run: |
-          pylint ./webots/controllers/*/*.py
+        run: pylint ./webots/controllers/*/*.py
diff --git a/.github/workflows/requirements.txt b/.github/workflows/requirements.txt
new file mode 100644
index 00000000..26d7047e
--- /dev/null
+++ b/.github/workflows/requirements.txt
@@ -0,0 +1,10 @@
+platformio==6.1.15
+numpy==1.26.4
+tensorflow==2.10.0
+tensorflow-probability==0.15.0
+keras==2.10.0
+matplotlib==3.9.0
+pandas==2.2.2
+pytest==8.3.2
+pylint==3.2.7
+git+https://github.com/gabryelreyes/SerialMuxProt.git#egg=SerialMuxProt&subdirectory=python/SerialMuxProt
\ No newline at end of file