[FEATURE] Get positions of user defined reference frames

[isa-9]

Describe the solution you'd like
I would like to get (with RDK) the TCP pose relative to a specific workpiece/reference frame that was created in Flexiv Elements or to get all of the workpiece coordinates that were created in Flexiv Elements.

[pzhu-flexiv]

@isa-9 Interacting with workpiece coordinate will be added in RDK v1.5.