addSensorToObject() expanded

[aclegg3]

Motivation and Context

This PR expands the addSensorToObject function to cover all possible valid values for objectId and to throw an exception for invalid values.

• adds attachment to an ArticulatedObject's root or to any link
• adds attachment to the root SceneNode (global space) when objectId == esp::RIGID_STAGE_ID

How Has This Been Tested

Added a C++ test.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[jturner65]

Looks good.