Reality Composer is great, but our team of 3D asset modelers has found it easier to sculpt characters in Zbrush. Do ARKit and RealityKit accept models created in Zbrush, or are there intermediate steps best for preparing a model for Apple platforms? (KeyShot, etc.)

Yes, if you can export your assets to FBX, glTF or OBJ, you can convert them to USDZ using Reality Converter, which is compatible with ARKit and RealityKit

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