Just experimenting with the nintendo DS 3D APIs, I made a small demo of Pikmin to see how many I could push. I didn't pack the models so imagine I could push more by avoiding all the float conversions, but it seems to run fine on my DS.
http://filetrip.net/nds-downloads/games/download-pikmin-0-1b-f32882.html
http://filetrip.net/nds-downloads/games/download-pikmin-0-1b-f32882.html