Remove clamping of joint constraint in MoveRelative stage

[captain-yoshi]

Fixes #664. Do not enforce position bounds, let the stage fail if joints are outside the limits instead of clamping to valid positions.

There are maybe some who would actually want to move relative up to the position limit. But there's a lot chances that this will fail in subsequent stages.

[codecov-commenter]

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 59.04%. Comparing base (bad8e13) to head (f9930dd).
Report is 1 commits behind head on master.

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Additional details and impacted files

@@            Coverage Diff             @@
##           master     #665      +/-   ##
==========================================
- Coverage   59.07%   59.04%   -0.02%     
==========================================
  Files          97       97              
  Lines        9004     9003       -1     
==========================================
- Hits         5318     5315       -3     
- Misses       3686     3688       +2     

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[rhaschke]

Thanks for providing the PR.