Use PoseRay. I don't have the link handy, but googling or just searching the forum will turn it up.
When generating the model in Arbaro, check the 'generate uv coordinates' checkboxes. Open the exported .inc in PoseRay, and you can assign colors and textures to the various material groups, then export the completed model as an .obj/mtl pair. There are a couple of tricks regarding texture path names and PoseRay settings. Mess around with it and search the forums here for more info.