Importing external animation data into 3Ds-Max-2009

I am looking for a way to import animation position data into 3DS-Max-2009 from an external file/table, either ASCII, CSV or XLS.
I have position data in world coordinates generated by a simulation program. The data includes X, Y, Z positions and the corresponding X-, Y-, Z-axis rotations for each time step, which is user-defined. Usually, the time step/increment will be 1/10th or 1/30th of a second, but it can be whatever I want it to be. How can I import the raw motion data into 3ds? There can be as many things in motion as I want.... but usually less than 5, and there will be no sub-motions, like hinged joints.

Would appreciate any help.