I have been working with some IMU sensors for a little while, and they have not quite been behaving as expected. From reading a few journal articles, it appears that BVH files contain rotation angles (which I believe are relative to the parent joint), and a transformation needs to be applied to obtain joint angles. However, I haven't found enough information about the transformation between the two, and I was wondering if anyone knew what the analysis/transformation process was to obtain joint angles from a BVH file.

Thanks in advance

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