Deterministically Assigning IPv6 Addresses Given a Cryptographic Key

Hey all, I have a group of computers or nodes that will interact between them on a VPN-like network I am writing. Each node has a public key, I would like to programmatically (using a custom Go program I am writing) deterministically assign them IPV6. So, let's say I know peer A public key, given that information I can build its IPv6 address. The addresses would be Unique Local Addresses, each group or peer group would be in the same subnet.

So, given a Public key hash this into a valid ULA.

Any help would be greatly appreciated.