Deriving Roll, Pitch & YAW from data sheet value of accelerometer & other values of a BNO055 sensor.

I am machine learning engineer currently working with some data sheet of this sensor (BNO055)  provided data. In the datasheet it have values of accelerometer, gyroscope and magnetometer x,y,z values. Now I need to find values of Roll, Pitch and YAW. How can I do this?

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