Add IMU projected_gravity_b and IMU computation speed optimizations

[jtigue-bdai]

Description

This PR adds projected_gravity_b data stream as well as speeding up computation by during batch rotating of all data streams to base frame in one computation rather than each data stream separately.

This PR is dependant on PR 2129 and should not be merged until that PR is merged.

Fixes # (issue)

Type of change

• New feature (non-breaking change which adds functionality)

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[Mayankm96]

Can we keep quat rotate and quat apply changes to another MR? Otherwise it is getting burried here under "IMU changes" which isn't correct.

[jtigue-bdai]

Can we keep quat rotate and quat apply changes to another MR? Otherwise it is getting burried here under "IMU changes" which isn't correct.

I can, I was mainly trying to utilize the quat_apply_inverse function which was introduced in the other PR. If we want to get this in sooner I can switch to quat_apply(quat_inv(quat)).