Sorry for the late reply, was experimenting with baking in Blender.
You can just UV map your model in Blender. The texture might get pinched according to the pose but nothing you can do about it. I believe Maya's textures need to be baked, from what I have read.
Baking in Blender can cause good/weird effects. If you bake a full render on an model your UV textures can be effected by shadows / low light areas or any material effects you want to add to the texture bake. You could even use it for spotlight effects(spaceship models, cabins).
Basically the process involves assigning a material/materials to the model, unwrapping it, applying the texture. This technique you can use lamps, material variables to then effect your UV texture. Rotate the camera/render to check out the models views, when you are happy, bake the full render.Save this image, Open the image under new texture, set mapping to UV. Then just export as a .x3D with the baked image both zipped.
And using baking, you can use procedural textures. If you do not want to use the lighting effects, just enable ambient occlusion
Just experiment, you will see the possibility's
Keith