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Thanks to @chapulina for give me a new route to explore,

I finally manage to find a way to import an image. Here is the snippet of how you import.

    <ambient>0.8 0.8 0.8 1</ambient>
    <diffuse>0.8 0.8 0.8 1</diffuse>
    <specular>1 0.8 0.8 1</specular>

Keep that in mind, this will find where the model.sdf is in. Just add your picture to there.

Also <Specular> is a bug atm.