I'm doing the bake by same name in Substance Painter 2 using a UDIM workflow. Every other texture map bakes fine except for the ID color map. I exported the highpoly from zbrush as FBX and all the subtools had their own polypaint color so I'm not sure why it is coming out as solid gray. In SP2 I tried specifying color source as vertex color the first time and material color the second time, but both dont work (vertex color just gave me an error and material color gave me the gray output).
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I don't know if this is a limitation of the FBX format, or a bug, but I feel like people should know about this quirk.