I see that there is a Linux library that should support it: https://github.com/RPi-Distro/RTIMULib
The first step would be to test that to make sure it works. Then, you'll have to either write a small stand-alone program that reads the IMU data and sends them over OSC to Supercollider, or perhaps write a Sc ugen that does that. I am not expert in writing SC ugens, but they do have a number of examples and tutorials on how to do that. I can help with the stand-alone program, though. But again, first thing you will have to check that the library works for your IMU.
