The main 3d format for the DS (though by no means is it ubiquitous) is NSBMD. It contains the data for the locations of the vertices in the main model
It is flanked by two other formats
NSBTX (texture files)
NSBCA (animation files)
NSBCA allows movement of these vertices, textures for texture animation will have to be handled. Said textures are not mandatory and plenty of games just use the material colours.
The t pose is a fairly standard model design for 3d models of humanoids as it gives a basic position for all other animations to stem from as well as see how the textures work.
I don't know what you are attempting to do here. You can change the relevant coordinates of the texture file such that the arms are in a different location if you want. This will make standard NSBMD viewers display it accordingly. This would mainly be useful for some kind of machinima or something, in this case not so useful for a ROM hack. I have not played with the 3d viewer of no$gba debug for a while but it might have something you can use here similar to sprite rippers using the OAM/tile viewers of emulators.
Alternatively if your viewer supports NSBCA files (unlikely as standalone viewers of 3d models on the DS are not that advanced) then you could tweak said animations to represent a pose you want and go from there.
I have some limited stuff on how 3d works on the DS in
https://gbatemp.net/threads/gbatemp-rom-hacking-documentation-project-new-2016-edition-out.73394/
If you want the tech side of things
http://problemkaputt.de/gbatek.htm#ds3dvideo
I don't have a good document for describing the format (older choices like
http://kiwi.ds.googlepages.com/nsbmd.html are rather limited) and you would probably be better off looking at source code for things like tinke and mkds course modifier.