How do I bake a bone animation that has a constraint? I have a BVH where the leg has a wobble in the x rotation so I added a limit rotation constraint to remove the wobble.

How do I convert the bone's pose with the constraint to just keyframes of its position but without the constraint?
In Pose Mode go to menu Pose > Animation > Bake Action

Check: Visual Keying
Check: Clear Constraints
Bake Data: Pose
OK

The constraints will be removed from the bone but instead the bone will be keyframed to act as if the constraint is affecting its motion.