{
  "robot_uuid": "abb_irb120_3_58",
  "q_init_str": "0,0,0,0,0,0",
  "start_joints": [0.00, 0.00, 0.00, 0.00, 0.00, 0.00],
  "end_joints": [0.20, -0.20, 0.30, 0.10, -0.10, 0.20],
  "steps": 12,
  "position_tolerance": 0.01
}