diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 000000000..91aa8068b
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,80 @@
+name: C++ CI Workflow
+
+on:
+  push:
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-latest, macos-latest]
+      fail-fast: false
+
+
+    steps:
+    - uses: actions/checkout@master
+
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        miniforge-variant: Miniforge3
+        miniforge-version: latest
+        channel-priority: true
+        conda-remove-defaults: true
+        channels: conda-forge, robotology
+
+    # ============
+    # DEPENDENCIES
+    # ============
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        conda install cmake cxx-compiler make ninja pkg-config yarp ycm-cmake-modules icub-main eigen "idyntree>=10.0.0" libunicycle-footstep-planner osqp-eigen "bipedal-locomotion-framework>=0.18.0" libtrintrin icub-contrib-common
+
+    - name: Print used environment
+      shell: bash -l {0}
+      run: |
+        conda list
+        env
+    # ===================
+    # CMAKE-BASED PROJECT
+    # ===================
+
+    - name: Configure [Windows]
+      # Use bash also on Windows (otherwise cd, mkdir, ... do not work)
+      if: matrix.os == 'windows-latest'
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake  -G"Visual Studio 17 2022" \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+
+    - name: Configure [Ubuntu/macOS]
+      if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target install
diff --git a/README.md b/README.md
index 6b9b1d1f1..c58b39a2e 100644
--- a/README.md
+++ b/README.md
@@ -65,6 +65,7 @@ Eprint = {arXiv:1809.02167},
 
 # :page_facing_up: Dependencies
 * [YARP](http://www.yarp.it/): to handle the comunication with the robot;
+* [trintrin](https://github.com/ami-iit/trintrin): a library with common messages for interprocess communication in robotics applications.
 * [iDynTree](https://github.com/robotology/idyntree): to handle the robot kinematics;
 * [iCubContrib](https://github.com/robotology/icub-contrib-common): to configure the modules;
 * [icub-main](https://github.com/robotology/icub-main): to smooth and integrate signals;
diff --git a/cmake/WalkingControllersDependencies.cmake b/cmake/WalkingControllersDependencies.cmake
index 6f9b10714..293b3e4de 100644
--- a/cmake/WalkingControllersDependencies.cmake
+++ b/cmake/WalkingControllersDependencies.cmake
@@ -9,6 +9,7 @@ find_package(iDynTree 10.0.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(UnicyclePlanner 0.8.0 REQUIRED)
 find_package(OsqpEigen 0.4.0 REQUIRED)
+find_package(trintrin 0.0.1 REQUIRED)
 find_package(BipedalLocomotionFramework 0.18.0
   COMPONENTS VectorsCollection IK ParametersHandlerYarpImplementation
              ContinuousDynamicalSystem ManifConversions Contacts
diff --git a/src/RetargetingHelper/CMakeLists.txt b/src/RetargetingHelper/CMakeLists.txt
index e55d7ea7f..505459664 100644
--- a/src/RetargetingHelper/CMakeLists.txt
+++ b/src/RetargetingHelper/CMakeLists.txt
@@ -6,5 +6,5 @@ add_walking_controllers_library(
   NAME RetargetingHelper
   SOURCES src/Helper.cpp
   PUBLIC_HEADERS include/WalkingControllers/RetargetingHelper/Helper.h
-  PUBLIC_LINK_LIBRARIES WalkingControllers::HumanState WalkingControllers::YarpUtilities WalkingControllers::KinDynWrapper ${iDynTree_LIBRARIES} ctrlLib
+  PUBLIC_LINK_LIBRARIES trintrin::msgs WalkingControllers::YarpUtilities WalkingControllers::KinDynWrapper ${iDynTree_LIBRARIES} ctrlLib
   PRIVATE_LINK_LIBRARIES Eigen3::Eigen)
diff --git a/src/RetargetingHelper/include/WalkingControllers/RetargetingHelper/Helper.h b/src/RetargetingHelper/include/WalkingControllers/RetargetingHelper/Helper.h
index 28be3702c..52935532a 100644
--- a/src/RetargetingHelper/include/WalkingControllers/RetargetingHelper/Helper.h
+++ b/src/RetargetingHelper/include/WalkingControllers/RetargetingHelper/Helper.h
@@ -22,7 +22,7 @@
 #include <iCub/ctrl/minJerkCtrl.h>
 
 #include <WalkingControllers/KinDynWrapper/Wrapper.h>
-#include <WalkingControllers/YarpUtilities/HumanState.h>
+#include <trintrin/msgs/HumanState.h>
 
 namespace WalkingControllers
 {
@@ -67,7 +67,7 @@ class RetargetingClient
         T velocity;
     };
 
-    struct HDERetargeting : public RetargetingElement<WalkingControllers::YarpUtilities::HumanState>
+    struct HDERetargeting : public RetargetingElement<trintrin::msgs::HumanState>
     {
         KinematicState<iDynTree::VectorDynSize> joints;
         KinematicState<double> com;
diff --git a/src/YarpUtilities/CMakeLists.txt b/src/YarpUtilities/CMakeLists.txt
index ec7d93238..623b4a4fe 100644
--- a/src/YarpUtilities/CMakeLists.txt
+++ b/src/YarpUtilities/CMakeLists.txt
@@ -14,8 +14,3 @@ add_walking_controllers_library(
   SOURCES ${YARP_UTILITIES_SRC}
   PUBLIC_HEADERS ${YARP_UTILITIES_HDR}
   PUBLIC_LINK_LIBRARIES ${YARP_LIBRARIES} ${iDynTree_LIBRARIES})
-
-add_walking_controllers_yarp_thrift(
-  NAME HumanState
-  THRIFT thrifts/WalkingControllers/YarpUtilities/HumanState.thrift
-  INSTALLATION_FOLDER YarpUtilities)
diff --git a/src/YarpUtilities/thrifts/WalkingControllers/YarpUtilities/HumanState.thrift b/src/YarpUtilities/thrifts/WalkingControllers/YarpUtilities/HumanState.thrift
deleted file mode 100644
index 543d07e3c..000000000
--- a/src/YarpUtilities/thrifts/WalkingControllers/YarpUtilities/HumanState.thrift
+++ /dev/null
@@ -1,34 +0,0 @@
-namespace yarp WalkingControllers.YarpUtilities
-
-/**
- * Representation of a 3D vector
- */
-struct Vector3 {
-    1: double x;
-    2: double y;
-    3: double z;
-}
-
-/**
- * Representation of a Quaternion
- */
-struct Quaternion {
-    1: double w;
-    2: Vector3 imaginary;
-}
-
-/**
- * Representation of the IHumanState interface
- */
-struct HumanState {
-    1: list<string> jointNames;
-    2: list<double> positions;
-    3: list<double> velocities;
-
-    4: string baseName;
-    5: Vector3 baseOriginWRTGlobal;
-    6: Quaternion baseOrientationWRTGlobal;
-    7: list<double> baseVelocityWRTGlobal;
-    8: Vector3 CoMPositionWRTGlobal;
-    9: Vector3 CoMVelocityWRTGlobal;
-}