Update simulator to calculate and fill sensor values (IMUState)

[coding-jaguar]

Description

The IMUState in the simulator was not being updated, causing locationd to receive zeros for the accelerometer and gyroscope values. This led to paramsd learning a bad offset and impacting the system's ability to process vehicle motion correctly.

This fix calculates and updates:

1. Bearing: Directly retrieved from the metadrive_vehicle_state and stored in state.imu.bearing.
2. Accelerometer: Computed based on the change in velocity (velocity) over time (dt) and stored in state.imu.accelerometer.
3. Gyroscope: The yaw rate is calculated from the change in bearing over time (dt) and stored in state.imu.gyroscope.

These updates ensure that the IMU state provides meaningful data to locationd.

Fixes #33721

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Verification

The bug fix was tested with simulated vehicle state data:

• Bearing: Verified with "==", with md_vehicle.bearing
• Accelerometer: Computed using velocity changes between consecutive time steps and validated with expected output.
• Gyroscope: Yaw rate derived from bearing changes over time and logged to ensure accuracy.

Print statements were used during development to confirm:

• Previous and current velocity values for acceleration.
• Bearing and its changes for gyroscope values.
• Logs and output confirmed that the IMU state was updated consistently across simulation runs.

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