<mujoco model="calib_board">
  <compiler autolimits="true"/>
  <visual><global offwidth="1600" offheight="1600"/></visual>
  <asset>
    <texture name="calib" type="2d" file="calib_board_grid.png"/>
    <material name="calib" texture="calib"/>
    <mesh name="calib_plane" file="aruco_plane.obj" scale="0.63333 0.93333 0.001" inertia="shell"/>
    <texture name="grid" type="2d" builtin="checker" rgb1="0.22 0.27 0.32" rgb2="0.16 0.2 0.24" width="300" height="300"/>
    <material name="floor" texture="grid" texuniform="true" texrepeat="4 4"/>
  </asset>
  <worldbody>
    <light pos="0 0 1.2" dir="0 0 -1" diffuse="0.9 0.9 0.9"/>
    <geom type="plane" size="1 1 0.05" pos="0 0 0" material="floor"/>
    <geom type="mesh" mesh="calib_plane" material="calib" pos="0 0 0.001" contype="0" conaffinity="0"/>
  </worldbody>
</mujoco>
