A new and improved version of the Java 3D Collada loader is now checked into the 'j3d-contrib utils' project here. I have attached a binary build to the bottom of this post. Enjoy, and feel free to discuss and recommend improvements, either here, or at the Java 3D forum.
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Where's the newest version?
I checked out j3d-contrib-utils, but the source code looks old. I also tried collada_eclectic3d.zip and j3d-contrib-utils.jar, many of my collada models did not look correct. puybaret's com.eteks.sweethome3d.j3d.DAELoader worked much faster & better for me, but not perfect.