Introduce new Exceptions that can be raised by planning backend through the PlannerInterface

[yck011522]

No description provided.

[yck011522]

The goal is to have more detailed Exceptions exposed to the user for debugging in case of failure.

These Exceptions can be raised by compas_fab backend adapter during pre-planning and post-planning phase, or raised by the backend client and relayed by the adapter.

[yck011522]

The current plan is to design a few Exceptions related to different steps in the planning process.

Exception	Planning Phase
InvalidStartStateError	Check Start State (e.g. Collision, Joint values in range)
InvalidTargetError	Check Target (e.g. Reachability / Attached Object Collision)
NoTargetConfigurationFoundError	Target Sampling (e.g. cannot sample FrameTarget / PointAxisTarget)
NoTrajectoryFoundError	Path Sampling (e.g. No Collision-free Path)
PostPlanningCheckError	Final Sanity Check (e.g. Joint Jump Violation)