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Is there perhaps a reference in your DAE file to some JPG file? Is this JPG file present in the model folder under the file structure materials/textures/?

The structure of a model folder for models with mesh geometry given by DAE file should be

├── materials
│   └── textures
│       └── model_name.jpg
├── meshes
│   └── model_name.dae
├── model.config
└── model.sdf