feat(elixir): implement proper AprilTag generation

apriltags.ps

@@ -0,0 +1,639 @@
+% BSD 2-Clause License
+% 
+% Copyright (c) 2013-2016, The Regents of The University of Michigan.
+% All rights reserved.
+% 
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+% 
+% 1. Redistributions of source code must retain the above copyright notice, this
+%    list of conditions and the following disclaimer.
+% 
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+%    this list of conditions and the following disclaimer in the documentation
+%    and/or other materials provided with the distribution.
+% 
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+% DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+% FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+% DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+% SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+% CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+% OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+% OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+/pagewidth 8.5 72 mul def                      
+/pageheight 11 72 mul def                      
+/maketag                                       
+{                                              
+  /img exch def                                
+  /name exch def                               
+  gsave                                        
+  pagewidth 2 div pageheight 2 div translate   
+  0 0 moveto                                   
+  1.0 pagewidth mul dup scale                  
+  1 -1 scale                                   
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+  0 setlinewidth .5 setgray [0.002 0.01] 0 setdash 
+  0 0 moveto 1 0 lineto 1 1 lineto 0 1 lineto  
+  closepath stroke                             
+  grestore                                     
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+  pagewidth 2 div 72 translate                 
+  /Helvetica-Bold findfont 20 scalefont setfont 
+  name                                         
+  dup stringwidth pop -.5 mul 0 moveto         
+  show                                         
+  grestore                                     
+  showpage                                     
+} def                                          
+(april.tag.Tag36h11, id = 0) <fffff0c00030cf3330c3f330c3c030ccc030c33c30c03030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 1) <fffff0c00030cf3c30c33f30cff030c3c030ccf330c0c330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 2) <fffff0c00030cf3f30c30c30cc0030c0c330c03030c0fc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 3) <fffff0c00030cfc330c03f30cc3f30ccc330cf0c30c3c030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 4) <fffff0c00030cfcc30cff030ccff30c0cc30cc0030cc0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 5) <fffff0c00030cff030cf0330cf3c30cccf30c0fc30ccf030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 6) <fffff0c00030c00330c33c30ccc330c3f330c00c30c03330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 7) <fffff0c00030c03030c03c30c33030ccfc30c03f30c33030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 8) <fffff0c00030c0c030cccf30c03f30c3ff30cfcc30ccf330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 9) <fffff0c00030c0c330cc3330cccf30c30030c30330cf0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 10) <fffff0c00030c0f330c0ff30cfcc30c30330ccfc30c03c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 11) <fffff0c00030c0ff30cfff30cc3330cc0c30cf0f30c33330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 12) <fffff0c00030c30030cfcc30c0c330c30f30c0cc30c3cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 13) <fffff0c00030c30330cf3030ccf330c00f30cc0330c3ff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 14) <fffff0c00030c30f30ccc330cf3030cc3030c0ff30ccc330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 15) <fffff0c00030c33030cc3030c3c030c33030cc3c30ccfc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 16) <fffff0c00030c33c30c3c330c3ff30cf3330c33030cfc030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 17) <fffff0c00030c3cc30c00f30ccfc30cf3c30cf0330c0f030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 18) <fffff0c00030c3cc30cffc30c30c30cc3f30c0c030c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 19) <fffff0c00030c3ff30cc0f30c03330c3c030cfcf30cccc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 20) <fffff0c00030cc0030c3f330ccc330c0c330c30c30ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 21) <fffff0c00030cc0330c3c030c0f030cfc330ccc330cf3030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 22) <fffff0c00030cc0f30c0f330c33030c3cc30c33f30cffc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 23) <fffff0c00030cc3f30cf0c30c03f30c0f030c0cf30c33f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 24) <fffff0c00030ccc030ccf030cccc30cff030cc0c30c3f030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 25) <fffff0c00030cccf30c3f030c33c30c0f330cc3f30cccf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 26) <fffff0c00030ccf030c33c30cfc330cff330cffc30cf0030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 27) <fffff0c00030ccfc30c0f030c00330c3fc30ccf030cfcc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 28) <fffff0c00030cf3030cc3330cfcf30cf0330c0fc30c3f330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 29) <fffff0c00030cf3330cc0030c3ff30cc0330cc3330cc0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 30) <fffff0c00030cfc330c0cc30ccfc30cc0f30c00330cf3c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 31) <fffff0c00030c0cf30c3f330cfc330cccc30c0ff30c3cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 32) <fffff0c00030c30030cff330c30030c0f030c3c330cfc030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 33) <fffff0c00030c33330cc0c30c00c30cffc30c0f330c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 34) <fffff0c00030c3c330c0f030c30330cfff30ccc330cc3330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 35) <fffff0c00030c3cc30c03c30cf3330cf0030c00030cccc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 36) <fffff0c00030c3cf30c00330c3c330cc0030c33f30ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 37) <fffff0c00030c3cf30cfcf30cff330c30030ccfc30cf3030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 38) <fffff0c00030cc0f30c30030c3cf30c30f30cc3f30c3f030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 39) <fffff0c00030cc3f30cf3330c0fc30c03330c3cc30cf3330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 40) <fffff0c00030cccf30c3ff30c3f330c03c30cf3f30c0c330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 41) <fffff0c00030ccff30c0c330ccf030c0c030c30f30c3f330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 42) <fffff0c00030cf3030ccc330c00c30cccc30c3f330cfcf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 43) <fffff0c00030cf3c30c3fc30c0cc30c0cf30c0f030c03330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 44) <fffff0c00030cfc330c0f330cf3330c3f030c30330c33030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 45) <fffff0c00030cffc30ccf330c0cf30cffc30c3cf30cf0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 46) <fffff0c00030c03c30c00330cccc30c00330c33030c3cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 47) <fffff0c00030c0c330cccf30cfc330c00c30cf0030ccfc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 48) <fffff0c00030c0cf30cc0330c00030cc0f30c3fc30cfc030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 49) <fffff0c00030c30030c03330cf0f30c33330c30c30c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 50) <fffff0c00030c3f330cf3030c0cf30cccc30ccf030c3f030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 51) <fffff0c00030cc0330c3fc30c3cc30ccf030c0c030cf0030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 52) <fffff0c00030cc0f30c30f30cc0c30c0f030cf3c30cfcc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 53) <fffff0c00030cc3f30cfc030c33030cffc30cccc30c30f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 54) <fffff0c00030cf0330c00330cfcc30cc0c30c30330c03330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 55) <fffff0c00030cf0f30cf0330cc3330cf0f30c33c30c33030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 56) <fffff0c00030c03330c0cc30c0f330c0cc30c0f030cf0f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 57) <fffff0c00030c0f030c3fc30cccf30c0f330c03330c3cf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 58) <fffff0c00030c3cf30c03f30cc3f30c30c30cf3c30cccf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 59) <fffff0c00030c3f030cff030ccfc30cf0f30cc3030cf3330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 60) <fffff0c00030cc0c30c3f030c03330c33330ccff30c30f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 61) <fffff0c00030cc0f30c33c30ccc330c03c30c03c30c3c030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 62) <fffff0c00030cc3030c30330c0f030cf3c30c3f330c3f330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 63) <fffff0c00030ccc330cf0030cc0f30c3c030cc3f30cfcf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 64) <fffff0c00030cccf30cc3330cccc30cfc330c33c30c03330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 65) <fffff0c00030ccfc30c33330c33c30c0cc30c3cf30c33030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 66) <fffff0c00030ccfc30c3c030c3f330c00f30cccc30cf0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 67) <fffff0c00030cf3330ccf030cfcf30c03c30cc0f30c3cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 68) <fffff0c00030c03330c30030c3cc30cff030cccf30ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 69) <fffff0c00030c30c30cffc30cf0f30c30c30c03330cfcc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 70) <fffff0c00030c30f30cfc330c33f30c00c30c3f030cfff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 71) <fffff0c00030c3c330c3c030ccf330cc3030cc3f30c3f330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 72) <fffff0c00030ccc330cf3c30cf0330c0cf30c03c30cf3f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 73) <fffff0c00030cfcf30c0ff30c3c030cc0330cff330c33c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 74) <fffff0c00030c03f30c0c030ccc330c33c30ccc330c33f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 75) <fffff0c00030c0f330cc0c30cc0f30ccc330c0cc30cfcc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 76) <fffff0c00030c33030cf3f30c00330ccf030c00f30cc0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 77) <fffff0c00030c33f30cc3c30ccf030cff330c0c030cf0330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 78) <fffff0c00030c3fc30c00030cc3f30c0ff30cccc30c33030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 79) <fffff0c00030cfcc30c33f30cfcf30cccc30cf3330ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 80) <fffff0c00030c33c30ccff30c30030c03c30c00330c0cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 81) <fffff0c00030c3f330c0c330c0cc30c3c030cc0c30ccf330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 82) <fffff0c00030cfcf30c33330cc3c30c33030c3f030c30c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 83) <fffff0c00030c33f30ccf030cfcc30ccff30cc3f30ccf330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 84) <fffff0c00030c3ff30c00330c3c030cf0c30cc0030c33330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 85) <fffff0c00030cf0030c3cc30c00030c0c330c33c30cf3030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 86) <fffff0c00030cfcc30c3fc30c0c330c3f330c33030cccf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 87) <fffff0c00030c0fc30cc3c30c3f030c03330c30030c3c330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 88) <fffff0c00030cccc30c00f30c0f030cf0030c03030ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 89) <fffff0c00030c30f30c0fc30c33330cf0030c30f30c30030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 90) <fffff0c00030c33030c0c030cfc330cc0030cccc30c33330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 91) <fffff0c00030cc0330cf3f30c30330cf3c30c03030cc0030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 92) <fffff0c00030cccc30c03c30c30f30ccc330c33030c0f330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 93) <fffff0c00030cfcc30cc3030c33f30c0ff30cf0f30cc3f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 94) <fffff0c00030c03c30c3f330ccc030c03030c3ff30ccc030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 95) <fffff0c00030c0c330c0f330c30f30c33330cc3030cf3f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 96) <fffff0c00030c3cf30cc0030c3fc30c3f030cf0c30c3cf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 97) <fffff0c00030cc3c30c3ff30c0cf30cc0330c03f30c33f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 98) <fffff0c00030c0f030cfcc30ccc330c30030c30030ccc330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 99) <fffff0c00030c30c30c3c330cfff30cf0c30c3cf30c03f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 100) <fffff0c00030c33030c0ff30c03f30c30f30c0c330c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 101) <fffff0c00030c3c330ccfc30c3f330cf3330c30f30ccff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 102) <fffff0c00030cc3330cccc30cf3330cc0f30c0ff30c0fc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 103) <fffff0c00030cc3c30cc3330c3c330c30f30cc3c30c30f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 104) <fffff0c00030cccf30c0cc30c0f030c03330c3c330ccf030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 105) <fffff0c00030cf0030ccc330cc0c30cc3f30cc3030c0cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 106) <fffff0c00030cc0c30cffc30c30330c0cf30c3c330c3f330c00030fffff0> maketag
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+(april.tag.Tag36h11, id = 119) <fffff0c00030c33030cccf30c03330c33c30c33030c3ff30c00030fffff0> maketag
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+(april.tag.Tag36h11, id = 121) <fffff0c00030c3f330cfcc30cfc030ccf030c3cc30c0f330c00030fffff0> maketag
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+(april.tag.Tag36h11, id = 124) <fffff0c00030c3c030c3fc30ccc330c00f30c3ff30c0f330c00030fffff0> maketag
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+(april.tag.Tag36h11, id = 126) <fffff0c00030c0c030c00f30ccf030c33c30c0ff30c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 127) <fffff0c00030c3fc30cfcf30cccc30c0ff30c30030c0fc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 128) <fffff0c00030cc3330c3cf30cf0c30c33030c30030ccf330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 129) <fffff0c00030c30030c3f030c00c30cf3330c0f330c3c030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 130) <fffff0c00030cc0f30ccc330cf0330ccf030cf0c30c00330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 131) <fffff0c00030c00f30cccf30c33330c0c330c3c330cf0030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 132) <fffff0c00030cc3f30c3cc30c0fc30cc0030ccf330c30330c00030fffff0> maketag
+(april.tag.Tag36h11, id = 133) <fffff0c00030cf3c30c00f30c0cc30cc3c30c3fc30cc0330c00030fffff0> maketag
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+(april.tag.Tag36h11, id = 576) <fffff0c00030cfcc30ccf030cff330cfc030ccfc30cc3f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 577) <fffff0c00030c00c30c03f30c0cc30cfc330c30f30cfc030c00030fffff0> maketag
+(april.tag.Tag36h11, id = 578) <fffff0c00030cf3c30ccc030cf3f30c3ff30cc3c30cc0c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 579) <fffff0c00030cc3c30cccc30cc3030cc0030cf3030cccf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 580) <fffff0c00030c03f30cf0f30c33030c0fc30cf3030cf3c30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 581) <fffff0c00030c03c30c0cc30c33f30ccc030c3c030c3ff30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 582) <fffff0c00030c0cf30c00f30c33c30cfc030cc3f30c00f30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 583) <fffff0c00030c0f030cf3030c3fc30ccf030c30c30c0cc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 584) <fffff0c00030c3ff30cf0c30c0ff30cc0030c0c030ccfc30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 585) <fffff0c00030c0c330c03330cc3030c03c30cc0f30cfcf30c00030fffff0> maketag
+(april.tag.Tag36h11, id = 586) <fffff0c00030cfcc30c00f30ccff30cc3030ccf330cf0f30c00030fffff0> maketag

lib/components_elixir/apriltag.ex

@@ -8,8 +8,9 @@ defmodule ComponentsElixir.AprilTag do
 
   import Ecto.Query
 
+  alias ComponentsElixir.AprilTag.Tag36h11
+
   @tag36h11_count 587
-  @apriltag_size 200
 
   @doc """
   Returns the total number of available AprilTags in the tag36h11 family.
@@ -116,43 +117,11 @@ defmodule ComponentsElixir.AprilTag do
   @doc """
   Generates an SVG string for an AprilTag with the given ID.
 
-  This creates a basic SVG representation of the AprilTag pattern
+  This creates an actual AprilTag pattern using real tag36h11 data
-  with the ID displayed below it for human readability.
+  when available, or falls back to a placeholder pattern.
-
-  Note: This is a simplified implementation. For production use,
-  you'd want to use the actual AprilTag generation algorithm or
-  pre-generated assets.
   """
   def generate_apriltag_svg(apriltag_id, opts \\ []) do
-    size = Keyword.get(opts, :size, @apriltag_size)
+    Tag36h11.generate_apriltag_svg(apriltag_id, opts)
-    margin = Keyword.get(opts, :margin, div(size, 10))
-
-    # For now, create a placeholder square pattern
-    # In a real implementation, you'd generate the actual AprilTag pattern
-    square_size = size - (2 * margin)
-
-    """
-    <svg width="#{size}" height="#{size + 30}" xmlns="http://www.w3.org/2000/svg">
-      <!-- White background -->
-      <rect width="#{size}" height="#{size + 30}" fill="white"/>
-
-      <!-- AprilTag placeholder (simplified) -->
-      <rect x="#{margin}" y="#{margin}" width="#{square_size}" height="#{square_size}"
-            fill="white" stroke="black" stroke-width="2"/>
-
-      <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
-      <rect x="#{margin + 10}" y="#{margin + 10}" width="#{square_size - 20}" height="#{square_size - 20}"
-            fill="black"/>
-      <rect x="#{margin + 20}" y="#{margin + 20}" width="#{square_size - 40}" height="#{square_size - 40}"
-            fill="white"/>
-
-      <!-- ID text below -->
-      <text x="#{size / 2}" y="#{size + 20}" text-anchor="middle"
-            font-family="Arial" font-size="14" font-weight="bold">
-        ID: #{String.pad_leading(to_string(apriltag_id), 3, "0")}
-      </text>
-    </svg>
-    """
   end
 
   @doc """

lib/components_elixir/apriltag/tag36h11.ex

@@ -0,0 +1,243 @@
+defmodule ComponentsElixir.AprilTag.Tag36h11 do
+  @moduledoc """
+  Tag36h11 AprilTag family data and generation.
+
+  Contains the actual bit patterns for all 587 tags in the tag36h11 family,
+  sourced from the AprilRobotics apriltag-imgs repository.
+  """
+
+  import Bitwise
+
+  # PostScript file path containing all tag36h11 patterns
+  @patterns_file "apriltags.ps"
+
+  # Parse a PostScript line like: (april.tag.Tag36h11, id = 42) <hexpattern> maketag
+  defp parse_ps_line(line) do
+    case Regex.run(~r/\(april\.tag\.Tag36h11, id = (\d+)\) <([0-9a-fA-F]+)> maketag/, line) do
+      [_, id_str, hex_pattern] ->
+        {String.to_integer(id_str), String.downcase(hex_pattern)}
+      _ ->
+        nil
+    end
+  end
+
+  # Extract patterns from PostScript file at compile time
+  @all_patterns (
+    path = Path.join([File.cwd!(), "apriltags.ps"])
+
+    if File.exists?(path) do
+      File.read!(path)
+      |> String.split("\n")
+      |> Enum.filter(&String.contains?(&1, "april.tag.Tag36h11"))
+      |> Enum.map(fn line ->
+        case Regex.run(~r/\(april\.tag\.Tag36h11, id = (\d+)\) <([0-9a-fA-F]+)> maketag/, line) do
+          [_, id_str, hex_pattern] ->
+            {String.to_integer(id_str), String.downcase(hex_pattern)}
+          _ ->
+            nil
+        end
+      end)
+      |> Enum.reject(&is_nil/1)
+      |> Map.new()
+    else
+      raise "Error: apriltags.ps file not found in project root. This file is required for AprilTag pattern generation."
+    end
+  )
+
+  # Sample of real tag36h11 hex patterns from AprilRobotics repository
+  # This will be populated with patterns extracted from the PostScript file
+  @tag36h11_patterns @all_patterns
+
+  @doc """
+  Extracts all tag36h11 hex patterns from the PostScript file.
+
+  Returns a map of {id => hex_pattern} for all 587 tags.
+  """
+  def extract_patterns_from_ps_file(file_path \\ nil) do
+    path = file_path || Path.join([File.cwd!(), @patterns_file])
+
+    if File.exists?(path) do
+      File.read!(path)
+      |> String.split("\n")
+      |> Enum.filter(&String.contains?(&1, "april.tag.Tag36h11"))
+      |> Enum.map(&parse_ps_line/1)
+      |> Enum.reject(&is_nil/1)
+      |> Map.new()
+    else
+      %{} # Return empty map if file not found, will fall back to hardcoded patterns
+    end
+  end
+
+  @doc """
+  Gets the hex pattern for a given AprilTag ID.
+
+  Returns nil if the ID is not available in our pattern data.
+  """
+  def get_hex_pattern(id) when is_integer(id) and id >= 0 and id < 587 do
+    Map.get(@tag36h11_patterns, id)
+  end
+  def get_hex_pattern(_), do: nil
+
+  @doc """
+  Converts a PostScript hex pattern to a 10x10 binary matrix using 2-bits-per-pixel
+  with proper row padding handling.
+
+  PostScript pads each scanline to byte boundary: 10 pixels × 2 bits = 20 bits,
+  rounded up to 24 bits = 3 bytes per row. The last 2 pixels per row are padding.
+
+  Returns a list of lists where true = black pixel, false = white pixel.
+  """
+  def hex_to_binary_matrix_2bpp(hex_string) when is_binary(hex_string) do
+    clean_hex =
+      hex_string
+      |> String.replace(~r/[<>\s]/, "")
+      |> String.upcase()
+
+    bytes = Base.decode16!(clean_hex, case: :mixed)
+
+    # Each scanline is padded to a byte boundary: 3 bytes per 10 pixels (2 bpp)
+    row_bytes = 3
+    rows =
+      for row <- 0..9 do
+        <<_::binary-size(row * row_bytes), r::binary-size(row_bytes), _::binary>> = bytes
+        <<b0, b1, b2>> = r
+
+        samples =
+          [
+            b0 >>> 6 &&& 0x3, b0 >>> 4 &&& 0x3, b0 >>> 2 &&& 0x3, b0 &&& 0x3,
+            b1 >>> 6 &&& 0x3, b1 >>> 4 &&& 0x3, b1 >>> 2 &&& 0x3, b1 &&& 0x3,
+            b2 >>> 6 &&& 0x3, b2 >>> 4 &&& 0x3, b2 >>> 2 &&& 0x3, b2 &&& 0x3
+          ]
+          |> Enum.take(10)              # drop the 2 padding samples at end of row
+          |> Enum.map(&(&1 == 0))       # 0 = black, 3 = white → boolean
+
+        samples
+      end
+
+    rows
+  end
+
+  @doc """
+  Legacy method - kept for backward compatibility.
+  Use hex_to_binary_matrix_2bpp/1 for correct AprilTag parsing.
+  """
+  def hex_to_binary_matrix(hex_string) when is_binary(hex_string) do
+    hex_to_binary_matrix_2bpp(hex_string)
+  end
+
+  @doc """
+  Generates an SVG string from a binary matrix.
+
+  Takes a 10x10 binary matrix and converts it to an SVG representation
+  using integer coordinates with viewBox scaling to eliminate seams.
+  Only black modules are drawn over a white background.
+  """
+  def binary_matrix_to_svg(binary_matrix, opts \\ []) do
+    size = Keyword.get(opts, :size, 200)  # final CSS size in px
+    id_text = Keyword.get(opts, :id_text, "")
+
+    # binary_matrix is 10x10 of booleans: true=black, false=white
+    modules_w = 10
+    modules_h = 10
+
+    # Build rects only for black modules, aligned to integer coords in the viewBox space
+    black_cells =
+      binary_matrix
+      |> Enum.with_index()
+      |> Enum.flat_map(fn {row, y} ->
+        row
+        |> Enum.with_index()
+        |> Enum.filter(fn {is_black, _x} -> is_black end)
+        |> Enum.map(fn {_is_black, x} ->
+          ~s(<rect x="#{x}" y="#{y}" width="1" height="1" />)
+        end)
+      end)
+      |> Enum.join()
+
+    """
+    <?xml version="1.0" encoding="UTF-8"?>
+    <svg xmlns="http://www.w3.org/2000/svg"
+         width="#{size}" height="#{size + 24}"
+         viewBox="0 0 #{modules_w} #{modules_h + 2}"
+         shape-rendering="crispEdges">
+      <!-- white background (includes 2 units below for caption area) -->
+      <rect x="0" y="0" width="#{modules_w}" height="#{modules_h + 2}" fill="white"/>
+      <!-- tag area outline (optional) -->
+      <rect x="0" y="0" width="#{modules_w}" height="#{modules_h}" fill="white" stroke="black" stroke-width="0"/>
+
+      <!-- black modules -->
+      <g fill="black">
+        #{black_cells}
+      </g>
+
+      <!-- caption -->
+      #{if id_text != "" do
+          ~s(<text x="#{modules_w/2}" y="#{modules_h + 1.4}" text-anchor="middle"
+                   font-family="Arial" font-size="0.9">#{id_text}</text>)
+        else "" end}
+    </svg>
+    """
+  end
+
+  @doc """
+  Generates a complete AprilTag SVG for a given ID.
+
+  This is the main function that combines hex pattern lookup,
+  binary conversion, and SVG generation.
+  """
+  def generate_apriltag_svg(id, opts \\ []) do
+    case get_hex_pattern(id) do
+      nil ->
+        # Fallback to placeholder for IDs we don't have patterns for yet
+        generate_placeholder_svg(id, opts)
+
+      hex_pattern ->
+        binary_matrix = hex_to_binary_matrix_2bpp(hex_pattern)
+        id_text = "ID: #{String.pad_leading(to_string(id), 3, "0")}"
+        opts_with_id = Keyword.put(opts, :id_text, id_text)
+        binary_matrix_to_svg(binary_matrix, opts_with_id)
+    end
+  end  # Generate a placeholder pattern for IDs we don't have real data for yet
+  defp generate_placeholder_svg(id, opts) do
+    size = Keyword.get(opts, :size, 200)
+    margin = Keyword.get(opts, :margin, div(size, 10))
+    square_size = size - (2 * margin)
+
+    """
+    <svg width="#{size}" height="#{size + 30}" xmlns="http://www.w3.org/2000/svg">
+      <!-- White background -->
+      <rect width="#{size}" height="#{size + 30}" fill="white"/>
+
+      <!-- AprilTag placeholder (simplified) -->
+      <rect x="#{margin}" y="#{margin}" width="#{square_size}" height="#{square_size}"
+            fill="white" stroke="black" stroke-width="2"/>
+
+      <!-- Simplified tag pattern - placeholder for missing real pattern -->
+      <rect x="#{margin + 10}" y="#{margin + 10}" width="#{square_size - 20}" height="#{square_size - 20}"
+            fill="black"/>
+      <rect x="#{margin + 20}" y="#{margin + 20}" width="#{square_size - 40}" height="#{square_size - 40}"
+            fill="white"/>
+
+      <!-- ID text below -->
+      <text x="#{size / 2}" y="#{size + 20}" text-anchor="middle"
+            font-family="Arial" font-size="14" font-weight="bold">
+        ID: #{String.pad_leading(to_string(id), 3, "0")} (Placeholder)
+      </text>
+    </svg>
+    """
+  end
+
+  @doc """
+  Returns the list of AprilTag IDs that have real pattern data available.
+  """
+  def available_patterns do
+    Map.keys(@tag36h11_patterns) |> Enum.sort()
+  end
+
+  @doc """
+  Returns whether a real pattern is available for the given ID.
+  """
+  def has_real_pattern?(id) do
+    Map.has_key?(@tag36h11_patterns, id)
+  end
+end

priv/static/apriltags/tag36h11_id_000.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 000
+                   font-family="Arial" font-size="0.9">ID: 000</text>
-  </text>
 </svg>

priv/static/apriltags/tag36h11_id_001.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 001
+                   font-family="Arial" font-size="0.9">ID: 001</text>
-  </text>
 </svg>

priv/static/apriltags/tag36h11_id_002.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_003.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 003</text>
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priv/static/apriltags/tag36h11_id_004.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 004
+                   font-family="Arial" font-size="0.9">ID: 004</text>
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priv/static/apriltags/tag36h11_id_005.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 005
+                   font-family="Arial" font-size="0.9">ID: 005</text>
-  </text>
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priv/static/apriltags/tag36h11_id_006.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_007.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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 </svg>

priv/static/apriltags/tag36h11_id_008.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 008</text>
-  </text>
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priv/static/apriltags/tag36h11_id_009.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 009
+                   font-family="Arial" font-size="0.9">ID: 009</text>
-  </text>
 </svg>

priv/static/apriltags/tag36h11_id_010.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 010
+                   font-family="Arial" font-size="0.9">ID: 010</text>
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 </svg>

priv/static/apriltags/tag36h11_id_011.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
-  
+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
-    ID: 011
+                   font-family="Arial" font-size="0.9">ID: 011</text>
-  </text>
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priv/static/apriltags/tag36h11_id_012.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 012</text>
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 </svg>

priv/static/apriltags/tag36h11_id_013.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_014.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_015.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_016.svg

@@ -1,20 +1,19 @@
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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
-        font-family="Arial" font-size="14" font-weight="bold">
+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 016</text>
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priv/static/apriltags/tag36h11_id_017.svg

@@ -1,20 +1,19 @@
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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_018.svg

@@ -1,20 +1,19 @@
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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_019.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
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priv/static/apriltags/tag36h11_id_020.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_021.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_022.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_026.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 026</text>
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priv/static/apriltags/tag36h11_id_027.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_028.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 028</text>
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priv/static/apriltags/tag36h11_id_029.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_030.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_031.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_032.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_033.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_034.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_035.svg

@@ -1,20 +1,19 @@
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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_036.svg

@@ -1,20 +1,19 @@
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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_037.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_038.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_039.svg

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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_040.svg

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-  <rect width="200" height="230" fill="white"/>
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-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
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+  <!-- black modules -->
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+  <g fill="black">
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_041.svg

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-  <rect width="200" height="230" fill="white"/>
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-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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-  <rect width="200" height="230" fill="white"/>
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_043.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_044.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
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+  <!-- black modules -->
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+  <g fill="black">
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+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_046.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_047.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
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+     viewBox="0 0 10 12"
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+
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+  <!-- black modules -->
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priv/static/apriltags/tag36h11_id_049.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_050.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_051.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_052.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_053.svg

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-  <rect width="200" height="230" fill="white"/>
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+     viewBox="0 0 10 12"
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_054.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_055.svg

@@ -1,20 +1,19 @@
-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
-        fill="white" stroke="black" stroke-width="2"/>
+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
-        fill="white"/>
+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_056.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_057.svg

@@ -1,20 +1,19 @@
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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_058.svg

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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_059.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_060.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_061.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_062.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_063.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_064.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="3" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_065.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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priv/static/apriltags/tag36h11_id_066.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_067.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
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+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_068.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
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-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
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+     viewBox="0 0 10 12"
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
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-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  <text x="5.0" y="11.4" text-anchor="middle"
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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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priv/static/apriltags/tag36h11_id_074.svg

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+     viewBox="0 0 10 12"
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+  <!-- black modules -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_078.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_079.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_083.svg

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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_084.svg

@@ -1,20 +1,19 @@
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-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="2" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="5" y="3" width="1" height="1" /><rect x="6" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="5" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_085.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
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-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
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+  <g fill="black">
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-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_086.svg

@@ -1,20 +1,19 @@
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_087.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="2" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="7" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="3" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="7" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="7" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="2" y="5" width="1" height="1" /><rect x="3" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="6" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="5" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="2" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_088.svg

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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
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+  <!-- black modules -->
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priv/static/apriltags/tag36h11_id_089.svg

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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+  <!-- black modules -->
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+  <!-- caption -->
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priv/static/apriltags/tag36h11_id_090.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_091.svg

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+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
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+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
-  <rect x="40" y="40" width="120" height="120" 
+  <g fill="black">
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+    <rect x="1" y="1" width="1" height="1" /><rect x="2" y="1" width="1" height="1" /><rect x="3" y="1" width="1" height="1" /><rect x="4" y="1" width="1" height="1" /><rect x="5" y="1" width="1" height="1" /><rect x="6" y="1" width="1" height="1" /><rect x="7" y="1" width="1" height="1" /><rect x="8" y="1" width="1" height="1" /><rect x="1" y="2" width="1" height="1" /><rect x="3" y="2" width="1" height="1" /><rect x="4" y="2" width="1" height="1" /><rect x="5" y="2" width="1" height="1" /><rect x="6" y="2" width="1" height="1" /><rect x="8" y="2" width="1" height="1" /><rect x="1" y="3" width="1" height="1" /><rect x="4" y="3" width="1" height="1" /><rect x="8" y="3" width="1" height="1" /><rect x="1" y="4" width="1" height="1" /><rect x="2" y="4" width="1" height="1" /><rect x="4" y="4" width="1" height="1" /><rect x="5" y="4" width="1" height="1" /><rect x="6" y="4" width="1" height="1" /><rect x="8" y="4" width="1" height="1" /><rect x="1" y="5" width="1" height="1" /><rect x="4" y="5" width="1" height="1" /><rect x="7" y="5" width="1" height="1" /><rect x="8" y="5" width="1" height="1" /><rect x="1" y="6" width="1" height="1" /><rect x="2" y="6" width="1" height="1" /><rect x="3" y="6" width="1" height="1" /><rect x="4" y="6" width="1" height="1" /><rect x="6" y="6" width="1" height="1" /><rect x="7" y="6" width="1" height="1" /><rect x="8" y="6" width="1" height="1" /><rect x="1" y="7" width="1" height="1" /><rect x="3" y="7" width="1" height="1" /><rect x="4" y="7" width="1" height="1" /><rect x="5" y="7" width="1" height="1" /><rect x="6" y="7" width="1" height="1" /><rect x="7" y="7" width="1" height="1" /><rect x="8" y="7" width="1" height="1" /><rect x="1" y="8" width="1" height="1" /><rect x="2" y="8" width="1" height="1" /><rect x="3" y="8" width="1" height="1" /><rect x="4" y="8" width="1" height="1" /><rect x="5" y="8" width="1" height="1" /><rect x="6" y="8" width="1" height="1" /><rect x="7" y="8" width="1" height="1" /><rect x="8" y="8" width="1" height="1" />
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+  </g>
-  <!-- ID text below -->
+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_092.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
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+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+
-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_093.svg

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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
-  <rect x="20" y="20" width="160" height="160" 
+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
+  <rect x="0" y="0" width="10" height="10" fill="white" stroke="black" stroke-width="0"/>
-  <rect x="30" y="30" width="140" height="140" 
+
-        fill="black"/>
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priv/static/apriltags/tag36h11_id_094.svg

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-<svg width="200" height="230" xmlns="http://www.w3.org/2000/svg">
+<?xml version="1.0" encoding="UTF-8"?>
-  <!-- White background -->
+<svg xmlns="http://www.w3.org/2000/svg"
-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
-  
+     viewBox="0 0 10 12"
-  <!-- AprilTag placeholder (simplified) -->
+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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+
-        fill="black"/>
+  <!-- black modules -->
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+  <g fill="black">
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+  <!-- caption -->
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priv/static/apriltags/tag36h11_id_095.svg

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-  <rect width="200" height="230" fill="white"/>
+     width="200" height="224"
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+     viewBox="0 0 10 12"
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+     shape-rendering="crispEdges">
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+  <!-- white background (includes 2 units below for caption area) -->
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-        fill="black"/>
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+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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priv/static/apriltags/tag36h11_id_096.svg

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-  <rect width="200" height="230" fill="white"/>
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+  <rect x="0" y="0" width="10" height="12" fill="white"/>
-  
+  <!-- tag area outline (optional) -->
-  <!-- Simplified tag pattern - in reality this would be the actual AprilTag -->
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-  <rect x="30" y="30" width="140" height="140" 
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+  </g>
-  <!-- ID text below -->
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-  <text x="100.0" y="220" text-anchor="middle" 
+  <!-- caption -->
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+  <text x="5.0" y="11.4" text-anchor="middle"
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+                   font-family="Arial" font-size="0.9">ID: 096</text>
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