https://twitter.com/iCyP/status/1263094936343162880

michicon_csv_import_test.py

#UNDER MIT LINCENCE @ ICYP 2020
#bone roll must be 0
import csv
import bpy
from math import radians
from mathutils import Vector,Euler,Quaternion
with open("C:\\Users\\hornt\\Downloads\\michicon_motion_20200601_123822.csv",newline="") as byebyecsv:
    motionreader = csv.reader(byebyecsv)
    names = None
    for row in motionreader:
        if names == None:
            names = row
            bonenames =  [ names[i][0].lower() + names[i][1:] for i in range(len(row))]
            continue
        for col,i in zip(row,range(len(row))):
            xyz = col.split()
            if i==0:
                bpy.ops.anim.keyframe_insert_menu(type='Rotation')
                bpy.context.scene.frame_current = float(xyz[0])*60
            elif i ==1:
                bpy.data.objects['skelton'].pose.bones["Hips"].location = [float(f)/1000 for f in xyz]
                bpy.ops.anim.keyframe_insert_menu(type='Location')
            else:
                bonename = bpy.data.armatures["Armature"][bonenames[i]]
                b = bpy.data.objects['skelton'].pose.bones[bonename]
                a = Euler(Vector(
                    [
                     radians(+float(xyz[0])),
                     radians(+float(xyz[2])),
                     radians(-float(xyz[1]))
                     ]
                     )).to_quaternion()
                b.rotation_quaternion = a
                if True:
                    b.rotation_quaternion = (bpy.data.armatures['Armature'].bones[bonename].matrix_local.inverted_safe() \
                                    @ b.rotation_quaternion.to_matrix().to_4x4() \
                                    @ bpy.data.armatures['Armature'].bones[bonename].matrix_local
                                    ).to_quaternion()