Fix orientation conversion for CARLA

[dfremont]

Description

Fixes the conversions between Scenic orientations and CARLA rotations so that they work for arbitrary 3D orientations.

Issue Link

176 was probably a combination of this bug and the broader Scenic bug fixed in #241; this PR fixes the scenario provided in #176.

Checklist

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

Additional Notes

Once the CARLA CI is set up we can add tests for this conversion; there isn't really anything we can add to the main test suite, unfortunately.

For future reference, the discussion of CARLA's conventions for rotations in #176 was wrong (CARLA's documentation is absolutely unhelpful here): in the course of fixing this issue I determined by experiment that CARLA uses the same ZXY intrinsic rotation sequence as Scenic, except that the Z rotation (yaw) is left-handed and the global orientation points East. I've added a comment to this effect in the code.

[abanuelo]

@dfremont regarding:

Once the CARLA CI is set up we can add tests for this conversion; there isn't really anything we can add to the main test suite, unfortunately.

What tests did you have in mind for the CI?

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 86.15%. Comparing base (1c49d80) to head (e8bdeb1). Report is 1 commits behind head on main.

Files	Patch %	Lines
src/scenic/simulators/carla/utils/utils.py	0.00%	2 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #245 +/- ## ========================================== + Coverage 86.13% 86.15% +0.01% ========================================== Files 144 144 Lines 24976 24991 +15 ========================================== + Hits 21514 21530 +16 + Misses 3462 3461 -1 ```

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