I suggest you switch from 3d.io β .blend β export.dae for any model that you want to take in ARKit. Blender has a great collada exporter.
I'm not sure that exporting furniture / any 3D object is still possible from 3d.io, but it should be possible with archilogic.com. You can also directly export collada files from archilogic, but texture export is not yet supported.
Edit: actually archilogic now exports diffuse, normal, and mirrored maps for collada
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