I have attached the files with this post to explain me how to remove rotation and center the origin at the body's local coordinate. This is just one sample and I have 1000s of files like this. I am working on a project based on affect recognition using autoencoders. I have been looking for sources to normalize the 3d data to make it suitable for training, but still I am struggling with removal of rotation and centring the origin. Please also refer to video to have an idea about the data.

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