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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.

  <material>
    <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>
    <pbr>
        <metal>
          <albedo_map>floor.png</albedo_map>
          <normal_map>floor.png</normal_map>
        </metal>
      </pbr>
  </material>

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.