[Feature request]: Handle pose frames

[arjo129]

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Description

We should provide helper methods to handle frames.

https://github.com/open-rmf/sdf_rust_experimental/blob/9fc35f2b5f55afab37a4c1906c395fc22d069322/sdformat_rs/src/lib.rs#L394

Currently we use global frames. We should find an API to handle transforms between frames.

Implementation Considerations

No response

Alternatives

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Additional information

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