diff --git a/CHANGELOG.md b/CHANGELOG.md
index 967c635..f9edd87 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+- Added `includes` parameter to `creo2urdf` to include additional yamls.
+
 ## [0.4.7] - 2024-04-09
 - Made `creo2urdf` runnable from terminal
 
diff --git a/README.md b/README.md
index 3965aab..15c1abd 100644
--- a/README.md
+++ b/README.md
@@ -74,7 +74,18 @@ If the export process was successful, you should see three files": "bar.stl", "b
 
 ### YAML Parameter File
 The YAML format is used to pass parameters to the plugin to customized the conversion process.
-The parameter accepted by the plugin are documented in the following.
+The parameters accepted by the plugin are documented in the following.
+
+##### Include Parameters
+The YAML can eventually include other YAML files using the `includes` parameter, if so, the included files are merged with the main file.
+All internal groups are merged if they are maps, they are overwritten only if an element is not a map, taking precedence over the main file in case of conflicts.
+
+> [!NOTE]
+> The `includes` parameter is not mandatory, but if it is present, it must be a list of strings, containing relative path respect the directory of the main YAML file.
+
+| Attribute name   | Type   | Default Value | Description  |
+|:----------------:|:---------:|:------------:|:-------------:|
+| `includes`     | List of strings  | "" | List of paths relative to the main YAML directory |
 
 ##### Severity Parameters
 | Attribute name   | Type   | Default Value | Description  |
diff --git a/src/creo2urdf/include/creo2urdf/Utils.h b/src/creo2urdf/include/creo2urdf/Utils.h
index 2250bc1..ff6372a 100644
--- a/src/creo2urdf/include/creo2urdf/Utils.h
+++ b/src/creo2urdf/include/creo2urdf/Utils.h
@@ -32,6 +32,7 @@
 #include <iDynTree/Model/Model.h>
 #include <iDynTree/Model/RevoluteJoint.h>
 #include <iDynTree/Model/FixedJoint.h>
+#include <yaml-cpp/yaml.h>
 
 /**
  * @brief Small positive value used for numerical precision comparisons.
@@ -439,4 +440,22 @@ std::pair<bool, iDynTree::Transform> getTransformFromPart(pfcModel_ptr modelhdl,
  */
 std::pair<bool, iDynTree::Direction> getAxisFromPart(pfcModel_ptr modelhdl, const std::string& axis_name, const std::string& link_frame_name, const array<double, 3>& scale);
 
+/**
+ * @brief Extracts the folder path from a file path.
+ * 
+ * @param filePath The file path from which to extract the folder path.
+ * @return std::string The folder path extracted from the input file path.
+ */
+std::string extractFolderPath(const std::string& filePath);
+
+/**
+ * @brief Merge two YAML nodes, recursively.
+ * 
+ * @param dest The destination YAML node.
+ * @param src The source YAML node.
+ * @return void
+ * 
+ */
+void mergeYAMLNodes(YAML::Node& dest, const YAML::Node& src);
+
 #endif // !UTILS_H
diff --git a/src/creo2urdf/src/Creo2Urdf.cpp b/src/creo2urdf/src/Creo2Urdf.cpp
index b6ad8e4..9beefc5 100644
--- a/src/creo2urdf/src/Creo2Urdf.cpp
+++ b/src/creo2urdf/src/Creo2Urdf.cpp
@@ -377,6 +377,7 @@ void Creo2Urdf::OnCommand() {
     m_yaml_path.clear();
     m_csv_path.clear();
     m_output_path.clear();
+    config = YAML::Node();
     m_asm_model_ptr = nullptr;
 
     return;
@@ -723,7 +724,19 @@ bool Creo2Urdf::loadYamlConfig(const std::string& filename)
 {
     try 
     {
-        config = YAML::LoadFile(filename);
+        auto config_temp = YAML::LoadFile(filename);
+        auto folder_path = extractFolderPath(filename);
+        if (config_temp["includes"].IsDefined() && config_temp["includes"].IsSequence()) {
+            for (const auto& include : config_temp["includes"]) {
+                auto include_filename = folder_path + include.as<std::string>();
+                auto include_config = YAML::LoadFile(include_filename);
+                mergeYAMLNodes(config, include_config);
+            }
+        }
+        else
+        {
+            config = config_temp;
+        }
     }
     catch (YAML::BadFile file_does_not_exist) 
     {
diff --git a/src/creo2urdf/src/Utils.cpp b/src/creo2urdf/src/Utils.cpp
index 72e9c36..05983f2 100644
--- a/src/creo2urdf/src/Utils.cpp
+++ b/src/creo2urdf/src/Utils.cpp
@@ -215,3 +215,38 @@ std::pair<bool, iDynTree::Direction> getAxisFromPart(pfcModel_ptr modelhdl, cons
     
     return { true, axis_unit_vector };
 }
+
+std::string extractFolderPath(const std::string& filePath) {
+    auto found = std::find_if(filePath.rbegin(), filePath.rend(),
+        [](char c) { return c == '/' || c == '\\'; });
+
+    if (found != filePath.rend()) {
+        return std::string(filePath.begin(), found.base());
+    }
+    else {
+        return "";
+    }
+}
+
+
+void mergeYAMLNodes(YAML::Node& dest, const YAML::Node& src) {
+
+    for (const auto& item : src) {
+        std::string key = item.first.as<std::string>();
+        if (!dest[key]) {
+            // If the key doesn't exist in the destination node, simply add it
+            dest[key] = item.second;
+        }
+        else {
+            // If the key exists in the destination node, merge the values
+            // If both values are maps, recursively merge them
+            if (dest[key].IsMap() && item.second.IsMap()) {
+                mergeYAMLNodes(dest[key], item.second);
+            }
+            else {
+                // Otherwise, overwrite the value in the destination node
+                dest[key] = item.second;
+            }
+        }
+    }
+}