// Create a Bitmap
Bitmap b = Utils.makeBitmapFromResourceId(this, R.drawable.nombretextura);

// Create a TextureManager and assign it a textureId
Shared.textureManager().addTextureId(b, "textura1", false);

// recycle the Bitmap
b.recycle();

// Create a TextureVo using the textureId
TextureVo texture = new TextureVo("textura1");

AnimationObject3d animation = parser.getParsedAnimationObject();
animation.doubleSidedEnabled(true);

animation.textures().addReplace(texture);