Make a Custom Environment

At the start of every FRC season, Team 2129 Ultraviolet will publish an environment.json file containing the locations of all AprilTags on the field. If you want to create your own tag layout, the formatting is listed below

{
    "tag_family" : "36h11", -> Sets which type of tag to look for, in most cases this is 36h11

    "tags" : [
        {
            "size" : 1.0, -> Width of the tag in meters
            "id" : 1, -> ID of the printed tag, this should be different for every tag
            "transform" : [ -> Transform matrix, leave the values below the same, all units in meters relative to environment origin
                [1, 0, 0, 0]
                [0, -1, 0, 0]
                [0, 0, -1, 0]
                [0, 0, 0, 1]
        } -> Repeat this block for every tag
    ]
}