How to access vRO8 Configuration Assets in a Powershell action/scriptable task?

I'm running a vRA8.1 instance with embedded vRO.

I have a Powershell action that I've gotten to work, but I'm trying to move a hard-coded value out of the code and into a Configuration Element/Asset. However, I'm struggling to figure out how to access the Configuration via Powershell.

I've considered creating another action (this one Javascript) to pull the Configuration data and return it to the main Powershell action, but I've also not figured out how to execute other actions from Powershell yet either.

If I need to access something like a vRO REST API to do this, then so be it, but I'm struggling to find documentation on a vRO REST API on vRA8.

Any help would be appreciated.