A personal learning version of Maya is available for free personal usage from their website.
(http://www.aliaswavefront.com/). A direct link to the download is
here.
1.)Place amc2mov.exe and asf2mel.exe (by Biomechanics, Inc) into the folder with your ASF/AMC files.
2.)Save this batch file into the directory, or make a batch (.bat)
file in the directory with the following contents.
asf2mel -f asffile.ASF import_skeleton-asffile.mel > asf2mel-out.txt
amc2mov -f asffile.ASF amcfile.AMC 60 import_mov-asffile.mel amcfile.AMC.MOV > asf2mov-out.txt
3.)Select the .asf file, and shift-select an .amc. Drag the two files onto the icon of the batch file.
(Or edit your batch file and replace asffile with your ASF file's name and amcfile with your AMC file's name, as shown in the picture below. Double-click to run.)
4.)The following output files will appear.
Any errors will be in the asf2mel-out.txt and asf2mov-out.txt files.
(Common errors with hand-typed batch files include not escaping a space in a
filename with a \ before it, and typing in the name incorrectly. If you
can't get a certain file name to be accepted, renaming the file to
something simple is the easiest way to fix the problem.)
5.)Open Maya select File... then Import. Browse to
the directory that contains the output of the convert script.
Open the import_skel.mel file.

Thils will create a skeleton in Maya that matches the one that was in
your ASF file.

6.)To load the motion open the load motion script by going to
File... then Import. In the same directory open the
load_skeleton script file.
7.)The script will load a dialog box that is open to the same
directory. Select the .AMC.MOV file that you created with the
convert script and the animation will be bound to the skeleton.

The result is visible in the workspace.
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