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There is a tool in one of Wes' animesh threads which is capable of turning *some* in-game animations into a text format, which can then be imported into Milkshape. They're here:
http://www.modthesims.info/showthread.php?t=239060 (The "AniMAX" download)
It's limited in its effectiveness though. It's reliably able to deconstruct an animation written with Wes' tools, but only a small portion of the actual in-game animations come out in any usable format. (Nothing which uses overlays, or IK, or events other than the kinds you can add with AniMesh).
All that said, there are some modifications which can be made to an animation using BHAVs and/or SLOTs which might serve your purpose. Do you just want the animation to play slower? Or to start at a different location maybe?