The SDK stuff that I have seen (granted it is about 5 years old now) is largely export plugins (to an intermediate format) for your standard 3d modelling programs (3ds max, maya, Softimage 3D/XSI and such), a half decent scene/material editor for said intermediate formats, intermediate format specs, a converter for the intermediate stuff (to actual DS formats) and and a rough overview of the underlying process so you do not go too overboard and depending what version you find you might also score some sound related stuff as well.
Edit as for the question at hand as others have said most later games (earlier ones like Metroid Prime Hunters have what appears to be an earlier version of the format- there was a viewer but I do not have the link right now) that use the 3d engine (not some isometric stuff) use the nitro formats (NSBMD and co) which some people have tweaked a few things for (usually scale related) in models and viewers are doing pretty good (especially these last few months) but it is not at the level we are at for 2d stuff and largely still revolves around a hex editor- certainly no grabbing and pulling vertices with a mouse.