RapidAuthor tools support textures when geometry is imported from the following formats:
Textured CAD import
RapidDataConverter - Autodesk 3DS, Autodesk DWF, Autodesk Inventor, COLLADA, FBX, glTF, Revit, SolidWorks, U3D, OBJ, VRML
Rapid JT Component - VRML, JT