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Well in your case pose is a server proxy, not an actual pose or a string pose request as defined in your srv. Also you are not creating your srv request for the call properly. Check the documentation for the std_msg/Sring.
You can try the following:

word=String()
word.data= 'Upright'
srv_proxy = rospy.ServiceProxy(step.context.set_navigation_config_service_name, String)
response = srv_proxy(word)

The response should be of type sensor_msgs/JointState and you should be able to access its data with response.specific_field (for example response.name[0] to get the name of the first joint).