feat(config): Convert pick_and_place work order to YAML

Author: Ishan1923

nexus_demos/README.md

@@ -54,12 +54,12 @@ ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_2 ros_domain_id
 
 `place_on_conveyor` work order:
 ```bash
-ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '23', work_order: '$(cat config/place_on_conveyor.json)'}}"
+ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '23', work_order: '$(cat config/place_on_conveyor.yaml)'}}"
 ```
 
 `pick_from_conveyor` work order:
 ```bash
-ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '24', work_order: '$(cat config/pick_from_conveyor.json)'}}"
+ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '24', work_order: '$(cat config/pick_from_conveyor.yaml)'}}"
 ```
 
 ## Debugging

nexus_demos/config/pick_and_place.json

@@ -0,0 +1,14 @@
+workInstructionName: "Pick and Place"
+steps:
+  - processId: "place_on_conveyor"
+    outputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"
+  - processId: "pick_from_conveyor"
+    inputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"

nexus_demos/config/pick_and_place.yaml

@@ -0,0 +1,8 @@
+workInstructionName: "Pick from conveyor"
+steps:
+  - processId: "pick_from_conveyor"
+    inputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"

nexus_demos/config/pick_from_conveyor.json

@@ -0,0 +1,8 @@
+workInstructionName: "Place on conveyor"
+steps:
+  - processId: "place_on_conveyor"
+    outputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"