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ENH: serialise singleton tags

Nicole Aucoin requested to merge github/fork/naucoin/4006-serialize-singleton-tags into master

Singleton nodes were not having their singleton tag serialized to MRML, so on loading a scene back in, two nodes would be present in the scene if the node logic is relying on the tag to update the node that was originally in the scene. This fix serializes the singleton tag to MRML, adds a utility method to uniformly turn the property on or off, adds a test, and expands the node documentation.

Issue #4006

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