Made it possible to describe rigid bundles of tags

This uses Chilitags' readTagConfiguration, and take as input a dictionary of the form:
```
{
    <objectID> : {
        <tagID>: {
            size : <size in mm>,
            translation : [<x>,<y>,<z>],
            rotation : [<x>,<y>,<z>],
            keep: <0 or 1>
        }
    },
    <objectId> : {...}
    ...
}
```

Refer to Chilitags' sample file: https://github.com/chili-epfl/chilitags/blob/master/share/tag_configuration_sample.yml