add on failure parameter to imperative workflow

[400Ping]

Tracking issue

Related to flyteorg/flyte#5913

Why are the changes needed?

As the issue stated, this function is in the base class and I don't see why not to expose it to imperative workflows.

What changes were proposed in this pull request?

I add a on_failure parameter in the ImperativeWorkflow class, you can see it in the commit

How was this patch tested?

Setup process

Screenshots

Check all the applicable boxes

• I updated the documentation accordingly.
• All new and existing tests passed.
• All commits are signed-off.

Related PRs

flyteorg/flyte#5913

Docs link

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 50.06%. Comparing base (2fbdc63) to head (0844d49).
Report is 3 commits behind head on master.

Files with missing lines	Patch %	Lines
flytekit/core/type_engine.py	0.00%	7 Missing ⚠️
flytekit/core/promise.py	0.00%	1 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #2908       +/-   ##
===========================================
- Coverage   72.80%   50.06%   -22.75%     
===========================================
  Files         199      199               
  Lines       20820    20840       +20     
  Branches     2676     2681        +5     
===========================================
- Hits        15159    10433     -4726     
- Misses       4932     9871     +4939     
+ Partials      729      536      -193     

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[Future-Outlier]

1. make lint to lint your code
2. add tests to test this variable.