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I found a solution to my problem. basicly I converted my *.step files into *.obj files using solidworks or CAD exchanger. I am not sure if any other program is able to do this first step. Then I loaded the obj file into blender 2.7 and made the correction in terms of scale and export to *.dae. The result can be seen below: image description.

So the trick to get from *.step to *.dae with colors was the obj trick:

xx.step -> (xx.obj, xx.mtl) -> xx.dae.