How to do a colored grid in R?

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Suppose I have a matrix object in R with the values:

aa <- matrix(c(0,4,1,10,3,2,1,6,0), ncol=3)

And I want to make a figure like the one in the image, with that scale.

Can anyone help me with a function that can help me to do this type of figure in R? or the name of that type of figure-plot-colored-grid?

How can I do this in R?

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