Wrap sdf::Errors with exceptions in all python bindings

[azeey]

🎉 New feature

Toward #931

Summary

This is a followup on #1004. It wraps the remaining python bound functions that return sdf::Errors and throws an exception instead.

Test it

Existing unit tests.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1061 (ba0d878) into main (2a7b698) will decrease coverage by 0.03%.
The diff coverage is 60.97%.

@@            Coverage Diff             @@
##             main    #1061      +/-   ##
==========================================
- Coverage   83.42%   83.39%   -0.04%     
==========================================
  Files         150      151       +1     
  Lines       18468    18490      +22     
==========================================
+ Hits        15407    15419      +12     
- Misses       3061     3071      +10     

Impacted Files	Coverage Δ
python/src/sdf/pyRoot.cc	55.73% <33.33%> (-9.57%)	⬇️
python/src/sdf/pyJoint.cc	65.43% <50.00%> (-2.47%)	⬇️
python/src/sdf/pyModel.cc	61.41% <66.66%> (+0.61%)	⬆️
python/src/sdf/pyJointAxis.cc	61.19% <85.71%> (+4.05%)	⬆️
python/src/sdf/pyFrame.cc	58.82% <100.00%> (-2.29%)	⬇️
python/src/sdf/pySemanticPose.cc	80.00% <100.00%> (+7.77%)	⬆️
python/src/sdf/pybind11_helpers.cc	100.00% <100.00%> (ø)

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