{
  "msg": "fk zero pose",
  "req_code": "CASE_FK_001",
  "req_from": "wasm_test",
  "req_cmd": "Cmd_Kinematics_forward_pose_str",
  "req_param": {
    "robot_uuid": "abb_irb120_3_58",
    "q_init_str": "0,0,0,0,0,0"
  }
}