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Oct 22nd, 2017
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  1. localArmDirection = kinectJointQuaternion * neutralArmdirection;
  2.  
  3. pitch = atan2(localArmDirection.y, localArmDirection.z)
  4.  
  5. roll = asin(localArmDirection.x) * (isLeftArm ? -1.0 : 1.0)
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