Specify Object IDs for Segmentation Camera

[kethan1]

Is your feature request related to a problem? Please describe.
When using a segmentation camera, object IDs cannot be chosen by the user.

Describe the solution you'd like
Allow models to be associated with a certain object ID.

For example:

<static name="{1}" type="{2}" objectID="{object id here}">
    <!-- specific definitions here -->
    <material name="{3}"/>
    <look name="{4}"/>
    <world_transform xyz="{5a}" rpy="{5b}"/>
</static>

Describe alternatives you've considered
The alternative is to have a user created mapping derived from observation that maps IDs to the corresponding object. This could be a problem if the object ID changes as a result of adding or removing another model.

Additional context
NA