Generalize the get_state return value in components

Nobody has claimed this yet.

### Summary
Nowadays the `Component::get_state` method is a bit flexible. No return type nor structure is demanded.
https://github.com/maliput/maliput_sim/blob/58098473fe244349d2af4f037cbda7198784bf11/maliput_sim/core/components.py#L67-L71

For example:

Name:
https://github.com/maliput/maliput_sim/blob/58098473fe244349d2af4f037cbda7198784bf11/maliput_sim/core/components.py#L159-L160

Type:
https://github.com/maliput/maliput_sim/blob/58098473fe244349d2af4f037cbda7198784bf11/maliput_sim/core/components.py#L173-L174

Pose:
https://github.com/maliput/maliput_sim/blob/58098473fe244349d2af4f037cbda7198784bf11/maliput_sim/core/components.py#L194-L195

Velocity:
https://github.com/maliput/maliput_sim/blob/58098473fe244349d2af4f037cbda7198784bf11/maliput_sim/core/components.py#L219-L220

### Proposal

Expect a return type of `Dict[str, Any]`.

Where the dictionary will compose by keys and values from the component:
- For Name: `{'name' : 'A name'}`
- For Type: `{'type' : 'A type'}`
- For Pose: `{'position', [x, y ,z], 'rotation', [x, y ,z, w]}`
- For Velocity: `{'linear', [x, y ,z], 'angular', [x, y ,z]}`

Start in maliput_sim/core/components.py at the linked Component::get_state definition and the Name, Type, Pose, and Velocity implementations. Review how each component currently returns state, then make the return values follow the proposed Dict[str, Any] key-and-value structures; done means all four examples use the stated dictionary format.

Written by the indexing model from the issue text.