fixed phs sample clamp

[Squirtleee]

The current aorrtc does not correctly clamp sampled values, causing the planner to produce paths that violate joint limits.

Ex. for Fetch on bookshelf_tall, aorrtc produced path:
[[ 0.1 1.32 1.4 -0.2 1.72 0.
1.66 0. ]
[ 0.312013 1.0800564 1.3638093 -0.2356756 1.5223789 0.18186502
1.3956473 0.46751922]
[ 0.524026 0.8401129 1.3276187 -0.2713512 1.3247577 0.36373004
1.1312945 0.93503845]
[ 0.6007637 0.6161268 1.2386806 -0.19828078 1.2444017 0.37947726
1.0696256 1.0215061 ]
[ 0.6775013 0.39214063 1.1497425 -0.12521036 1.1640458 0.39522445
1.0079567 1.1079736 ]
[ 0.73149335 0.20357451 1.0818026 -0.03826298 1.094518 0.41562477
0.95212936 1.1978811 ]
[ 0.7854854 0.0150084 1.0138626 0.0486844 1.02499 0.43602508
0.89630204 1.2877886 ]
[ 0.7797412 -0.18502353 0.9829739 0.291964 0.94007456 0.5000914
0.8138553 1.4848033 ]
[ 0.77399707 -0.38505548 0.95208514 0.5352436 0.8551592 0.56415766
0.7314085 1.681818 ]
[ 0.7491885 -0.3758884 0.9586397 0.61964494 0.86275697 0.5906924
0.7041613 1.7408653 ]
[ 0.7243799 -0.3667213 0.9651942 0.7040463 0.87035465 0.6172272
0.6769141 1.7999127 ]
[ 0.6274128 -0.27499354 0.9728866 1.0568529 0.94349456 0.7350328
0.53937864 2.046095 ]
[ 0.5304457 -0.1832658 0.980579 1.4096596 1.0166345 0.8528384
0.4018432 2.2922769 ]
[ 0.45828718 -0.10070515 0.9817169 1.678065 1.0821767 0.9441092
0.29155493 2.4794116 ]
[ 0.38612866 -0.0181445 0.9828548 1.9464703 1.147719 1.03538
0.18126664 2.6665466 ]]

here the first joint of Fetch has a limit of [0, 0.38615]

The above has also been checked by "vamp_module.validate(config_in_path, env, check_bounds=True)" which produced False for some configs in path

[zkingston]

Great catch, LGTM.