fix(aws-stepfunctions): refactor sagemaker tasks and fix default role issue

[mattmcclean]

• Refactor the train job to create default security group and add new method to add new security groups
• Ensure the environment variables and tags values are always string values
• Change IAM role id to be different for SagemakerTrainJob and SagemakerTransformJob. Fixes aws-stepfunctions: issue with sagemaker tasks creating default roles #3013
• Added new check to ensure there is an Image Name or Algorithm Name defined for the train job

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[mattmcclean]

The error is due to a break in the compatibility as I removed the Construct param from the constructor of the SFN Task objects. This package should be flagged as experimental so that breaks in compatibility are allowed. Waiting for this change to be reflected in the CI process

[rix0rrr]

Triggering build

[mergify]

Pull Request Checklist

• Testing

• Unit test added (prefer to add a new test rather than modify existing tests)
• CLI change? Re-run/add CLI integration tests

• Documentation

• Inline docs: make sure all public APIs are documented (copy & paste from official AWS docs)
• README: update module README
• Design: for significant features, follow the design process

• Title uses the format type(scope): text

• Type: fix, feat, refactor go into CHANGELOG, chore is hidden
• Scope: name of the module without the aws- or cdk- prefix or postfix (e.g. s3 instead of aws-s3-deployment)
• Style: use all lower-case, do not end with a period

• Description

• Rationale: describe rationale of change and approach taken
• Issues: Indicate issues fixed via: fixes #xxx or closes #xxx
• Breaking?: last paragraph: BREAKING CHANGE: <describe what changed + link for details>

• Sensitive Modules (requires 2 PR approvers)

• IAM document library (in @aws-cdk/aws-iam)
• EC2 security groups and ACLs (in @aws-cdk/aws-ec2)
• Grant APIs (if not based on official documentation with a reference)

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