diff --git a/dart/common/Uri.cpp b/dart/common/Uri.cpp
index 0f3e7bbbc0e81..9c2ddc36b8ad0 100644
--- a/dart/common/Uri.cpp
+++ b/dart/common/Uri.cpp
@@ -502,6 +502,23 @@ Uri Uri::createFromRelativeUri(const std::string& _base,
   return mergedUri;
 }
 
+//==============================================================================
+Uri Uri::createFromRelativeUri(const Uri& _base,
+                               const std::string& _relative, bool _strict)
+{
+  Uri mergedUri;
+  if(!mergedUri.fromRelativeUri(_base, _relative, _strict))
+  {
+    dtwarn << "[Uri::createFromRelativeUri] Failed merging URI '" << _relative
+           << "' with base URI '" << _base.toString() << "'.\n";
+  }
+
+  // We don't need to clear mergedUri since fromRelativeUri() does not set any
+  // component on failure.
+
+  return mergedUri;
+}
+
 //==============================================================================
 Uri Uri::createFromRelativeUri(const Uri& _baseUri,
                                const Uri& _relativeUri, bool _strict)
@@ -541,6 +558,17 @@ std::string Uri::getRelativeUri(
     return mergedUri.toString();
 }
 
+//==============================================================================
+std::string Uri::getRelativeUri(
+  const Uri& _base, const std::string& _relative, bool _strict)
+{
+  Uri mergedUri;
+  if(!mergedUri.fromRelativeUri(_base, _relative, _strict))
+    return "";
+  else
+    return mergedUri.toString();
+}
+
 //==============================================================================
 std::string Uri::getRelativeUri(
     const Uri& _baseUri, const Uri& _relativeUri, bool _strict)
diff --git a/dart/common/Uri.h b/dart/common/Uri.h
index 9e2b912ad1478..62b0b814c3121 100644
--- a/dart/common/Uri.h
+++ b/dart/common/Uri.h
@@ -181,6 +181,12 @@ struct Uri final
                                    const std::string& _relative,
                                    bool _strict = false);
 
+  /// Create URI resolving a relative path reference; return an empty URI on
+  /// failure.
+  static Uri createFromRelativeUri(const Uri& _base,
+                                   const std::string& _relative,
+                                   bool _strict = false);
+
   /// Create URI resolving a relative path reference; return an empty URI on
   /// failure.
   static Uri createFromRelativeUri(const Uri& _base,
@@ -195,6 +201,11 @@ struct Uri final
                                     const std::string& _relative,
                                     bool _strict = false);
 
+  /// Resolve a relative path reference; return an empty string on failure.
+  static std::string getRelativeUri(const Uri& _base,
+                                    const std::string& _relative,
+                                    bool _strict = false);
+
   /// Resolve a relative path reference; return an empty string on failure.
   static std::string getRelativeUri(const Uri& _base,
                                     const Uri& _relative,
diff --git a/data/obj/Body_Hip.obj b/data/obj/Body_Hip.obj
index a8c439c3e1a49..4162b135cc0e9 100644
--- a/data/obj/Body_Hip.obj
+++ b/data/obj/Body_Hip.obj
@@ -1,6 +1,5 @@
 # Blender3D v249 OBJ File: 
 # www.blender3d.org
-mtllib Body_Hip.mtl
 v 0.000000 0.000000 0.000000
 v 0.017500 -0.009750 -0.136500
 v -0.009700 -0.009750 -0.136500
@@ -10676,7 +10675,6 @@ v -0.088194 -0.004910 0.060807
 v -0.088854 -0.005907 0.059665
 v -0.089512 -0.006906 0.058525
 v -0.088594 -0.007304 0.058072
-usemtl Material.001
 s 1
 f 3 5 2
 f 2 5 9
diff --git a/data/obj/BoxSmall.obj b/data/obj/BoxSmall.obj
index 360079132622a..0e35fbe5bcd1a 100644
--- a/data/obj/BoxSmall.obj
+++ b/data/obj/BoxSmall.obj
@@ -1,6 +1,5 @@
 # Blender3D v249 OBJ File: 
 # www.blender3d.org
-mtllib BoxSmall.mtl
 v 0.02000 -0.02000 -0.02000
 v 0.02000 -0.02000 0.02000
 v -0.02000 -0.02000 0.02000
@@ -9,7 +8,6 @@ v 0.02000 0.02000 -0.02000
 v 0.02000 0.02000 0.02000
 v -0.02000 0.02000 0.02000
 v -0.02000 0.02000 -0.02000
-usemtl Material
 s off
 f 5 1 4
 f 5 4 8
diff --git a/data/obj/foot.obj b/data/obj/foot.obj
index fe8892ecb6dac..662506cdd3af5 100644
--- a/data/obj/foot.obj
+++ b/data/obj/foot.obj
@@ -1,6 +1,5 @@
 # Blender3D v249 OBJ File: 
 # www.blender3d.org
-mtllib Body_LAR.mtl
 v 0.069500 -0.094390 -0.067470
 v 0.069500 -0.094480 -0.067200
 v 0.069490 -0.094480 -0.067260
@@ -5070,7 +5069,6 @@ v 0.069040 -0.094480 -0.070000
 v 0.068930 -0.094480 -0.069720
 v 0.068770 -0.094480 -0.069470
 v 0.068560 -0.094480 -0.069260
-usemtl Material_001
 s off
 f 28 1 29
 f 29 1 2