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In SDF you can use:

<visual name="castor_visual">
  <pose>-0.200 0 -0.12 0 0 0</pose>
  <geometry>
    <sphere>
      <radius>0.04</radius>
    </sphere>
  </geometry>
  <material>
    <ambient>1 0 0 1</ambient>
    <diffuse>1 0 0 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <emissive>0 0 0 0</emissive>
  </material>
</visual>