When you say you want certain portions raised, are you thinking Inkscape is a 3d modelling program? Because it's not. Inkscape can simulate 3d, by creating shadows and highlights.
Looking at the SVG file, it appears to be all ready to add fill color. First, all the fills and strokes are unset, which should mean they look black, but instead, everything is invisible. (I don't know why.) So I had to do Select All, and add a stroke, to see the paths. Then you'll be able to see which path you want to fill with which color.
Help menu > Tutorials > Basic, Shapes and Advanced. Those 3 tutorials will give you a good start, and probably tell you everything you need to know.