Clamp matrices in matrix_to_euler_angles function

[StoneT2000]

Closes #1988

Credit goes to @tylerlum for raising this issue and suggesting this fix in haosulab/ManiSkill#1090

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[bottler]

Thank you! Would you be happy with clamping to exactly -1.0 and 1.0? I don't think there's a reason to add an eps, but you might have a special reason.

[StoneT2000]

I actually am not sure. This was suggested by @tylerlum in his PR to my own repo and I didn't think much of it. I can't think of any strong reason to actually add them, I will remove them.

I initially thought maybe this might affect some other conversions if someone were to chain conversions but this is just angles so shouldn't matter.

[facebook-github-bot]

@bottler has imported this pull request. If you are a Meta employee, you can view this in D78021983.

[facebook-github-bot]

@bottler merged this pull request in e3d3a67.

[bottler]

@StoneT2000 Thank you!

[tylerlum]

Glad to hear this got in! Thanks for making the PR @StoneT2000