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Hello, sure, you can add your own models, also with texture. Here for example I added this table from rail_collada_models:

image description

You need to add it to ~/.gazebo/models with a model.config file describing it. For example for the table above you must add a directory named doll_table containing the meshes and textures and a model.config file like:

<?xml version="1.0"?>
<model>
  <name>Doll table</name>
  <version>1.0</version>
  <sdf version='1.3'>doll_table.sdf</sdf>

  <author>
    <name>xxxx</name>
    <email>xxx@yyy.zzz</email>
  </author>

  <description>
    A small wooden table.
  </description>
</model>

to ~/.gazebo/models. Just check other models there as examples (will be empty until you include some of the models available by default in gazebo; they get downloaded locally the first time you use them).

Hope this helps!