Clamp matrices in matrix_to_euler_angles function (#1989)

Summary:
Closes #1988

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

Pull Request resolved: #1989

Reviewed By: MichaelRamamonjisoa

Differential Revision: D78021983

Pulled By: bottler

fbshipit-source-id: d723f1924a399f4d7fd072e96ea740ae73cf280f

Author: StoneT2000

pytorch3d/transforms/rotation_conversions.py

@@ -294,10 +294,11 @@ def matrix_to_euler_angles(matrix: torch.Tensor, convention: str) -> torch.Tenso
     tait_bryan = i0 != i2
     if tait_bryan:
         central_angle = torch.asin(
-            matrix[..., i0, i2] * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
+            torch.clamp(matrix[..., i0, i2], -1.0, 1.0)
+            * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
         )
     else:
-        central_angle = torch.acos(matrix[..., i0, i0])
+        central_angle = torch.acos(torch.clamp(matrix[..., i0, i0], -1.0, 1.0))
 
     o = (
         _angle_from_tan(