Attached Link: http://www.scs.carleton.ca/~roth/CD97_ROTH/docs/n_inputs.html

Don't get too hung up on file extensions, as the same ones are often get used for files that have different internal formats and/or different content.

All polygon models are constructed from a set of vertex (i.e. points) and face definitions.
If all you need is the points on the surface of an object, then provided you know the format of the input files, converting from OBJ format (or another text based format) is a relatively simple scripting problem.

Please take a look at the attached link and see if the ASC format described (at bottom of the page)  is the right one (try creating a small test file by hand in a text editor).

If so, get a copy of Python and CGKit.
You should then be able to script a convertor from the 3D formats that CGKit will read to ASC format.

If you need internal points as well as the surface points, you need to use a meshing program to create them (one possibility would be Gmsh).
You'll still need to script a conversion for the output to ASC format.