this is in Main.java:

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */

package test;
import javax.media.opengl.*;
import javax.swing.*;
/**
 *
 * @author ramon
 */
public class Main {

    /**
     * @param args the command line arguments
     */
    public static void main(String[] args) {
        JFrame frame = new JFrame("Jogl Test");
        frame.setSize(640,480);
        frame.setResizable(true);
        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
        GLCanvas canvas = new GLCanvas();

        SimpleJogl glevent = new SimpleJogl();
        canvas.addGLEventListener(glevent);
        frame.add(canvas);
        frame.setVisible(true);
    }

}

this is in SimpleJogl.java:

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */

package test;
import javax.media.opengl.*;
import javax.media.opengl.glu.*;

/**
 *
 * @author ramon
 */
public class SimpleJogl implements GLEventListener {
    public SimpleJogl() {
    }

    public void init(GLAutoDrawable glad) {
        GL gl = glad.getGL();
        gl.setSwapInterval(1);
        gl.glShadeModel(GL.GL_SMOOTH);
        gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
        gl.glClearDepth(1.0f);
        gl.glEnable(GL.GL_DEPTH_TEST);
        gl.glDepthFunc(GL.GL_LEQUAL);
        gl.glHint(GL.GL_PERSPECTIVE_CORRECTION_HINT, GL.GL_NICEST);

        
    }

    public void display(GLAutoDrawable glad) {
        GL gl = glad.getGL();
        gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);
        gl.glLoadIdentity();
        gl.glTranslatef(-1.5f, 0.0f, -6.0f);
      gl.glRotatef(rtri, 0.0f, 1.0f, 0.0f);
      gl.glBegin(GL.GL_TRIANGLES);          // Drawing Using Triangles
        gl.glColor3f(1.0f, 0.0f, 0.0f);   // Set the current drawing color to red
        gl.glVertex3f( 0.0f, 1.0f, 0.0f);   // Top
        gl.glColor3f(0.0f, 1.0f, 0.0f);   // Set the current drawing color to green
        gl.glVertex3f(-1.0f,-1.0f, 0.0f);   // Bottom Left
        gl.glColor3f(0.0f, 0.0f, 1.0f);   // Set the current drawing color to blue
        gl.glVertex3f( 1.0f,-1.0f, 0.0f);   // Bottom Right
      gl.glEnd();            // Finished Drawing The Triangle
      gl.glLoadIdentity();
      gl.glTranslatef(1.5f, 0.0f, -6.0f);
      gl.glRotatef(rquad, 1.0f, 0.0f, 0.0f);
      gl.glBegin(GL.GL_QUADS);              // Draw A Quad
        gl.glColor3f(0.5f, 0.5f, 1.0f);   // Set the current drawing color to light blue
        gl.glVertex3f(-1.0f, 1.0f, 0.0f);   // Top Left
        gl.glVertex3f( 1.0f, 1.0f, 0.0f);   // Top Right
        gl.glVertex3f( 1.0f,-1.0f, 0.0f);   // Bottom Right
        gl.glVertex3f(-1.0f,-1.0f, 0.0f);   // Bottom Left
      gl.glEnd();            // Done Drawing The Quad
      gl.glFlush();
      rtri += 0.2f;
      rquad += 0.15f;

    }

    public void reshape(GLAutoDrawable glad, int x, int y, int width, int height) {
        final GL gl = glad.getGL();
        GLU glu = new GLU();

        if (height <= 0) // avoid a divide by zero error!
          height = 1;
        final float h = (float)width / (float)height;
        gl.glViewport(0, 0, width, height);
        gl.glMatrixMode(GL.GL_PROJECTION);
        gl.glLoadIdentity();
        glu.gluPerspective(45.0f, h, 1.0, 20.0);
        gl.glMatrixMode(GL.GL_MODELVIEW);
        gl.glLoadIdentity();
    }

    public void displayChanged(GLAutoDrawable glad, boolean bln, boolean bln1) {
    }
    private float rquad = 0.0f;
    private float rtri = 0.0f;
}

package teste;
import com.sun.j3d.loaders.*;
import com.sun.j3d.loaders.objectfile.ObjectFile;
import com.sun.j3d.utils.geometry.Text2D;
import javax.swing.*;
import javax.media.j3d.*;
import com.sun.j3d.utils.universe.*;
import java.awt.*;
import java.io.*;
import javax.vecmath.*;
import ncsa.j3d.*;
import ncsa.j3d.loaders.*;
/**
 *
 * @author ramon
 */
public class Main {

    /**
     * @param args the command line arguments
     */
    public static void main(String[] args) throws Exception{
        JFrame frame = new JFrame("Teste Java3D");
        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
        frame.setSize(640, 480);
        frame.setResizable(false);
        GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
        Canvas3D canvas = new Canvas3D(config);
        SimpleUniverse universe = new SimpleUniverse(canvas);
        BranchGroup group = new BranchGroup();
        final int BOUNDSIZE = 100;
        BoundingSphere bounds = new BoundingSphere(new Point3d(0,0,0), BOUNDSIZE);
        Scene s = null;
        ModelLoader map = new ModelLoader();
        try {
            s = map.load("/home/ramon/data/models/Coolrobo.3ds");
        }
        catch(Exception e) {
            e.printStackTrace();
        }
        BranchGroup gr = s.getSceneGroup();
        gr.setBounds(bounds);
        TransformGroup tg = new TransformGroup();
        tg.addChild(gr);
        Switch sw = new Switch();
        sw.addChild(tg);
        sw.setCapability(Switch.ALLOW_SWITCH_WRITE);
        sw.setWhichChild( Switch.CHILD_ALL );
        group.addChild(sw);
        group.compile();
        universe.getViewingPlatform().setNominalViewingTransform();
        universe.addBranchGraph(group);
        frame.add(canvas);
        frame.setVisible(true);
    }

}