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[Doc/Feature] Refactor, doc update and behavior fix for graphs (#1983)

* Update graph

* Fix for dgl.graph

* from_scipy

* Replace canonical_etypes with relations

* from_networkx

* Update for hetero_from_relations

* Roll back the change of canonical_etypes to relations

* heterograph

* bipartite

* Update doc

* Fix lint

* Fix lint

* Fix test cases

* Fix

* Fix

* Fix

* Fix

* Fix

* Fix

* Update

* Fix test

* Fix

* Update

* Use DGLError

* Update

* Update

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* Fix

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* Fix

* Fix

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* rewrite sanity checks

* delete unnecessary checks

* Update

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* Fix

* Update

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* Fix

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* Fix
Co-authored-by: xiang song(charlie.song) <classicxsong@gmail.com>
Co-authored-by: Minjie Wang <wmjlyjemaine@gmail.com>
Co-authored-by: Quan Gan <coin2028@hotmail.com>