<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" />
  <camera name="extcam" pos="0 0 1" xyaxes="1 0 0 0 1 0" fovy="45" /></worldbody>
</mujoco>