A PyMel Script that tranfers the keyframe data from a source skeleton to a target skeleton
Download the files and put in a folder. Open up Init.py and change fileDirectory to the newly created folder. Open maya, select source skeleton then target skeleton (root nodes).
Run the script in Mayas script editor. Click "Transfer animation" on the pop up window and the process will start.
The list show in the QT window can be manipulated. Say if you want the keyframe data from right hand from the source to be applied to target skeletons left knee. Just line the two up in the list and continue as normal.