Orientation Composition Fixes

[Eric-Vin]

Description

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

Issue Link

N/A

Checklist

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

Additional Notes

N/A

[codecov[bot]]

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 :warning:

Additional details and impacted files

```diff @@ 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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