[HardwareComponentInterface] Add get state and command interface handle methods (backport #2831)

[mergify]

This PR adds a few new methods that could be really helpful if we want to catch the information of the exported interfaces to improve the performance of the setting and getting of handles

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This is an automatic backport of pull request #2831 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 72b1dc6 has failed:

On branch mergify/bp/jazzy/pr-2831
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Changes to be committed:
	modified:   hardware_interface/include/hardware_interface/hardware_component_interface.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   hardware_interface/include/hardware_interface/handle.hpp

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