I looked further into this issue and the only thing that should be needed is a conversion of the Vizard-specific transformations to DAE-compatible transformations here:
daeWTransforms.cpp line 284
Can I somehow do this myself with the SDK? Is there something fundamentally wrong with my idea to export scenes this way? Can you please comment on my feature request - is it realistic to expect this feature in future versions (maybe even the upcoming Vizard 5)?