csv_to_bvh.py

import csv
import os
import bpy

objects = bpy.context.scene.objects

empties = []

for object in objects:
    if object.type == 'EMPTY':
        empties.append(object)
        
print(empties)

with open("hmr.csv", 'r', newline='') as csvfile:
    ofile = csv.reader(csvfile, delimiter=',')
    next(ofile) # <-- skip the x,y,z header

    for line in ofile:
        f, *pts = line

        for fnum in range(5):
            fpts = [float(p) for p in pts]
            coordinates = [fpts[0:3], fpts[3:6], fpts[6:9], fpts[9:12],
                        fpts[12:15], fpts[15:18], fpts[18:21], fpts[21:24],
                        fpts[24:27], fpts[27:30], fpts[30:33], fpts[33:36],
                        fpts[36:39], fpts[39:42],fpts[42:45], fpts[45:48],
                        fpts[48:51], fpts[51:54], fpts[54:57], fpts[57:60]]
                        

            bpy.context.scene.frame_set(fnum)
            bpy.data.scenes['Scene'].frame_end = fnum + 1
            
            for ob, position in zip(empties, coordinates):
                ob.location = position
                ob.keyframe_insert(data_path="location", index=-1)

target_file = 'result.bvh'

bpy.ops.export_anim.bvh(filepath=target_file)