which file attached the texture and what material?

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Hello, I have some doubts regarding texture or painting in sw_urdf_exporter, when I apply the texture I do not know what kind of file I should use (in my last attempt I could not because I put the same image in .png that solidworks uses in its texture) Am I using the wrong format? and another, the material on which it asks to be specified can I add as? I only type which one?

I use the sw_exporter_urdf and plugin gazebo for the solid works, I am not able to create an arena type for my use