More detailed action failure messages

[hello-amal]

When actions fail, currently they only show an alert saying they fail, but not why. However, that can be unintuitive for the user. e.g., for click-to-pregrasp, its hard to know whether they should move closer/farther to the object, whether the point they clicked is too high and exceeds the robot's lift height, whether the feature is broken, etc.

This Issue is to create a unified way to transparently explain to users why an action failed and what they should do. This should work for all autonomous actions, e.g., click-to-pregrasp and navigation.