Orientation Composition Fixes

[Eric-Vin]

Description

Fixed orientations being composed backwards. Also added several tests and updated some documentation.

Issue Link

N/A

Checklist

• I have tested the changes locally via pytest and/or other means
• I have added or updated relevant documentation
• I have autoformatted the code with black and isort
• I have added test cases (if applicable)

Additional Notes

N/A

[codecov]

Codecov Report

Attention: Patch coverage is 96.96970% with 1 lines in your changes are missing coverage. Please review.

Project coverage is 86.15%. Comparing base (7f018e0) to head (7b2ad85).
Report is 1 commits behind head on main.

Files	Patch %	Lines
src/scenic/core/vectors.py	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #241      +/-   ##
==========================================
+ Coverage   86.13%   86.15%   +0.02%     
==========================================
  Files         144      144              
  Lines       24938    24983      +45     
==========================================
+ Hits        21480    21524      +44     
- Misses       3458     3459       +1     

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[dfremont]

Looks good! I confirmed objects with non-global parent orientations now correctly apply yaw, etc. in the built-in visualizer and in CARLA (with the appropriate coordinate conversion fixes -- I'll send those separately).