Static (boneless, unanimated) models can be transferred from blender using either the built-in DAE export or one of the more popular still mesh formats like obj or 3ds, transforming those into DAE using the autodesk converter or a similar tool.
Blender 2.6+ Workflow
This tutorial covers how to export a static model from Blender with all lighting baked into the diffuse map, which is ideal for mobile devices.
Do not forget to assign a UV map to your model/material.
If you are working with more than 1 layers in blender, select the object you want to export and include only this UV layer:
When importing into ShiVa, swap your Z and Y axis. Edit the material inside ShiVa to give your models the final look, and there you have it!