I don't know Altium Designer, but I do use their earlier Protel 99, and it outputs a pick and place file as plain ASCII text.
It contains a bunch of fields, but the important ones are designator (R101) part type (100Ohm0805) and X, Y and rotation.
I wrote converter programs in C to read this file and output placement files in the format required by my old Philips CSM84 and my slightly newer Quad QSA30 machine.
I am pretty sure Altium produces a very similar file.