<mujoco>
    <asset>
        <texture
            name="chessboard_texture" type="2d" builtin="checker"
            rgb1="0.616 0.341 0.106" rgb2="0.902 0.8 0.671"
            width="300" height="300">
        </texture>
        <material
            name="chessboard_mat" texture="chessboard_texture" texrepeat="4 4"
            texuniform="false">
        </material>
    </asset>
    <worldbody>
        <body name="chessboard">
            <geom
                name="chessboard" size="0.16 0.16 0.001" type="box"
                contype="0" conaffinity="0" material="chessboard_mat">
            </geom>
        </body>
    </worldbody>
</mujoco>
