diff --git a/nexus_demos/README.md b/nexus_demos/README.md
index 32e6c343..8f2739b2 100644
--- a/nexus_demos/README.md
+++ b/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
diff --git a/nexus_demos/config/pick_and_place.json b/nexus_demos/config/pick_and_place.json
deleted file mode 100644
index c00fccf1..00000000
--- a/nexus_demos/config/pick_and_place.json
+++ /dev/null
@@ -1,29 +0,0 @@
-{
-  "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"
-          }
-        }
-      ]
-    }
-  ]
-}
diff --git a/nexus_demos/config/pick_and_place.yaml b/nexus_demos/config/pick_and_place.yaml
new file mode 100644
index 00000000..52123ec1
--- /dev/null
+++ b/nexus_demos/config/pick_and_place.yaml
@@ -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"
diff --git a/nexus_demos/config/pick_from_conveyor.json b/nexus_demos/config/pick_from_conveyor.json
deleted file mode 100644
index 81f912cf..00000000
--- a/nexus_demos/config/pick_from_conveyor.json
+++ /dev/null
@@ -1,17 +0,0 @@
-{
-  "workInstructionName": "Pick from conveyor",
-  "steps": [
-    {
-      "processId": "pick_from_conveyor",
-      "inputItems": [
-        {
-          "guid": "productA",
-          "metadata": {
-            "quantity": 1,
-            "state": "state_1"
-          }
-        }
-      ]
-    }
-  ]
-}
diff --git a/nexus_demos/config/pick_from_conveyor.yaml b/nexus_demos/config/pick_from_conveyor.yaml
new file mode 100644
index 00000000..75d8ca4e
--- /dev/null
+++ b/nexus_demos/config/pick_from_conveyor.yaml
@@ -0,0 +1,8 @@
+workInstructionName: "Pick from conveyor"
+steps:
+  - processId: "pick_from_conveyor"
+    inputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"
diff --git a/nexus_demos/config/place_on_conveyor.json b/nexus_demos/config/place_on_conveyor.json
deleted file mode 100644
index 2fed6635..00000000
--- a/nexus_demos/config/place_on_conveyor.json
+++ /dev/null
@@ -1,17 +0,0 @@
-{
-  "workInstructionName": "Place on conveyor",
-  "steps": [
-    {
-      "processId": "place_on_conveyor",
-      "outputItems": [
-        {
-          "guid": "productA",
-          "metadata": {
-            "quantity": 1,
-            "state": "state_1"
-          }
-        }
-      ]
-    }
-  ]
-}
diff --git a/nexus_demos/config/place_on_conveyor.yaml b/nexus_demos/config/place_on_conveyor.yaml
new file mode 100644
index 00000000..6c7ad116
--- /dev/null
+++ b/nexus_demos/config/place_on_conveyor.yaml
@@ -0,0 +1,8 @@
+workInstructionName: "Place on conveyor"
+steps:
+  - processId: "place_on_conveyor"
+    outputItems:
+      - guid: "productA"
+        metadata:
+          quantity: 1
+          state: "state_1"
diff --git a/nexus_demos/package.xml b/nexus_demos/package.xml
index 885aa85a..4bfbc4fc 100644
--- a/nexus_demos/package.xml
+++ b/nexus_demos/package.xml
@@ -66,6 +66,7 @@
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>ament_index_cpp</test_depend>
   <test_depend>rcpputils</test_depend>
+  <exec_depend>python3-yaml</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nexus_demos/test_invalid_place_on_conveyor.py b/nexus_demos/test_invalid_place_on_conveyor.py
index 0391e149..957e8c5a 100644
--- a/nexus_demos/test_invalid_place_on_conveyor.py
+++ b/nexus_demos/test_invalid_place_on_conveyor.py
@@ -68,7 +68,7 @@ async def test_abort_invalid_place_on_conveyor_wo(self):
         self.action_client.wait_for_server()
         goal_msg = ExecuteWorkOrder.Goal()
         goal_msg.order.work_order_id = "1"
-        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
             goal_msg.order.work_order = f.read()
         feedbacks: list[ExecuteWorkOrder.Feedback] = []
         fb_fut = Future()
diff --git a/nexus_demos/test_parallel_duplicated_wo.py b/nexus_demos/test_parallel_duplicated_wo.py
index 8b3198fc..c85c5478 100644
--- a/nexus_demos/test_parallel_duplicated_wo.py
+++ b/nexus_demos/test_parallel_duplicated_wo.py
@@ -66,7 +66,7 @@ async def test_reject_jobs_over_max(self):
         """
         goal_msg = ExecuteWorkOrder.Goal()
         goal_msg.order.work_order_id = "1"
-        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
             goal_msg.order.work_order = f.read()
         goal_handle = cast(
             ClientGoalHandle, await self.action_client.send_goal_async(goal_msg)
@@ -75,7 +75,7 @@ async def test_reject_jobs_over_max(self):
 
         goal_msg_2 = ExecuteWorkOrder.Goal()
         goal_msg_2.order.work_order_id = "2"
-        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
             goal_msg_2.order.work_order = f.read()
         goal_handle_2 = cast(
             ClientGoalHandle, await self.action_client.send_goal_async(goal_msg_2)
diff --git a/nexus_demos/test_parallel_pick_and_place_rmf.py.disabled b/nexus_demos/test_parallel_pick_and_place_rmf.py.disabled
index 018f0761..dcd0d1bd 100644
--- a/nexus_demos/test_parallel_pick_and_place_rmf.py.disabled
+++ b/nexus_demos/test_parallel_pick_and_place_rmf.py.disabled
@@ -78,7 +78,7 @@ class ParallelPickAndPlaceRmfTest(NexusTestCase):
         self.action_client.wait_for_server()
 
         goal_msg = ExecuteWorkOrder.Goal()
-        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
             goal_msg.order.work_order = f.read()
 
         # First goal
diff --git a/nexus_demos/test_parallel_wo.py b/nexus_demos/test_parallel_wo.py
index 265c4cfc..6a7ec98b 100644
--- a/nexus_demos/test_parallel_wo.py
+++ b/nexus_demos/test_parallel_wo.py
@@ -66,7 +66,7 @@ async def test_reject_jobs_over_max(self):
         """
         goal_msg = ExecuteWorkOrder.Goal()
         goal_msg.order.work_order_id = "1"
-        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
             goal_msg.order.work_order = f.read()
         goal_handle = cast(
             ClientGoalHandle, await self.action_client.send_goal_async(goal_msg)
@@ -75,7 +75,7 @@ async def test_reject_jobs_over_max(self):
 
         goal_msg_2 = ExecuteWorkOrder.Goal()
         goal_msg_2.order.work_order_id = "2"
-        with open(f"{os.path.dirname(__file__)}/config/pick_from_conveyor.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_from_conveyor.yaml") as f:
             goal_msg_2.order.work_order = f.read()
         goal_handle_2 = cast(
             ClientGoalHandle, await self.action_client.send_goal_async(goal_msg_2)
diff --git a/nexus_demos/test_pick_and_place.py b/nexus_demos/test_pick_and_place.py
index e138c939..5d34c6a6 100644
--- a/nexus_demos/test_pick_and_place.py
+++ b/nexus_demos/test_pick_and_place.py
@@ -68,7 +68,7 @@ async def test_pick_and_place_wo(self):
         self.action_client.wait_for_server()
         goal_msg = ExecuteWorkOrder.Goal()
         goal_msg.order.work_order_id = "1"
-        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
             goal_msg.order.work_order = f.read()
         feedbacks: list[ExecuteWorkOrder.Feedback] = []
         fb_fut = Future()
diff --git a/nexus_demos/test_pick_and_place_rmf.py b/nexus_demos/test_pick_and_place_rmf.py
index 403983ff..89ab385a 100644
--- a/nexus_demos/test_pick_and_place_rmf.py
+++ b/nexus_demos/test_pick_and_place_rmf.py
@@ -75,7 +75,7 @@ async def test_pick_and_place_wo_with_rmf(self):
         self.action_client.wait_for_server()
         goal_msg = ExecuteWorkOrder.Goal()
         goal_msg.order.work_order_id = "1"
-        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
             goal_msg.order.work_order = f.read()
         feedbacks: list[ExecuteWorkOrder.Feedback] = []
         fb_fut = Future()