diff --git a/doc/classes/XRBodyTracker.xml b/doc/classes/XRBodyTracker.xml
index b064e1f5b0d..4945fada0eb 100644
--- a/doc/classes/XRBodyTracker.xml
+++ b/doc/classes/XRBodyTracker.xml
@@ -304,20 +304,20 @@
 		<constant name="JOINT_RIGHT_WRIST_TWIST" value="80" enum="Joint">
 			Right wrist twist joint.
 		</constant>
-		<constant name="JOINT_LEFT_ANKLE_TWIST" value="81" enum="Joint">
-			Left ankle twist joint.
+		<constant name="JOINT_LEFT_FOOT_TWIST" value="81" enum="Joint">
+			Left foot twist joint.
 		</constant>
-		<constant name="JOINT_LEFT_ANKLE" value="82" enum="Joint">
-			Left ankle joint.
+		<constant name="JOINT_LEFT_HEEL" value="82" enum="Joint">
+			Left heel joint.
 		</constant>
 		<constant name="JOINT_LEFT_MIDDLE_FOOT" value="83" enum="Joint">
 			Left middle foot joint.
 		</constant>
-		<constant name="JOINT_RIGHT_ANKLE_TWIST" value="84" enum="Joint">
-			Right ankle twist joint.
+		<constant name="JOINT_RIGHT_FOOT_TWIST" value="84" enum="Joint">
+			Right foot twist joint.
 		</constant>
-		<constant name="JOINT_RIGHT_ANKLE" value="85" enum="Joint">
-			Right ankle joint.
+		<constant name="JOINT_RIGHT_HEEL" value="85" enum="Joint">
+			Right heel joint.
 		</constant>
 		<constant name="JOINT_RIGHT_MIDDLE_FOOT" value="86" enum="Joint">
 			Right middle foot joint.
diff --git a/scene/3d/xr/xr_body_modifier_3d.cpp b/scene/3d/xr/xr_body_modifier_3d.cpp
index 75328154598..ca68b5a0115 100644
--- a/scene/3d/xr/xr_body_modifier_3d.cpp
+++ b/scene/3d/xr/xr_body_modifier_3d.cpp
@@ -175,11 +175,11 @@ void XRBodyModifier3D::_get_joint_data() {
 		"LeftWristTwist", // XRBodyTracker::JOINT_LEFT_WRIST_TWIST
 		"RightScapula", // XRBodyTracker::JOINT_RIGHT_SCAPULA
 		"RightWristTwist", // XRBodyTracker::JOINT_RIGHT_WRIST_TWIST
-		"LeftAnkleTwist", // XRBodyTracker::JOINT_LEFT_ANKLE_TWIST
-		"LeftAnkle", // XRBodyTracker::JOINT_LEFT_ANKLE
+		"LeftFootTwist", // XRBodyTracker::JOINT_LEFT_FOOT_TWIST
+		"LeftHeel", // XRBodyTracker::JOINT_LEFT_HEEL
 		"LeftMiddleFoot", // XRBodyTracker::JOINT_LEFT_MIDDLE_FOOT
-		"RightAnkleTwist", // XRBodyTracker::JOINT_RIGHT_ANKLE_TWIST
-		"RightAnkle", // XRBodyTracker::JOINT_RIGHT_ANKLE
+		"RightFootTwist", // XRBodyTracker::JOINT_RIGHT_FOOT_TWIST
+		"RightHeel", // XRBodyTracker::JOINT_RIGHT_HEEL
 		"RightMiddleFoot", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FOOT
 	};
 
diff --git a/servers/xr/xr_body_tracker.cpp b/servers/xr/xr_body_tracker.cpp
index 3f3b6b0670c..93722fea054 100644
--- a/servers/xr/xr_body_tracker.cpp
+++ b/servers/xr/xr_body_tracker.cpp
@@ -131,11 +131,11 @@ void XRBodyTracker::_bind_methods() {
 	BIND_ENUM_CONSTANT(JOINT_LEFT_WRIST_TWIST);
 	BIND_ENUM_CONSTANT(JOINT_RIGHT_SCAPULA);
 	BIND_ENUM_CONSTANT(JOINT_RIGHT_WRIST_TWIST);
-	BIND_ENUM_CONSTANT(JOINT_LEFT_ANKLE_TWIST);
-	BIND_ENUM_CONSTANT(JOINT_LEFT_ANKLE);
+	BIND_ENUM_CONSTANT(JOINT_LEFT_FOOT_TWIST);
+	BIND_ENUM_CONSTANT(JOINT_LEFT_HEEL);
 	BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FOOT);
-	BIND_ENUM_CONSTANT(JOINT_RIGHT_ANKLE_TWIST);
-	BIND_ENUM_CONSTANT(JOINT_RIGHT_ANKLE);
+	BIND_ENUM_CONSTANT(JOINT_RIGHT_FOOT_TWIST);
+	BIND_ENUM_CONSTANT(JOINT_RIGHT_HEEL);
 	BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FOOT);
 	BIND_ENUM_CONSTANT(JOINT_MAX);
 
diff --git a/servers/xr/xr_body_tracker.h b/servers/xr/xr_body_tracker.h
index 848509d8982..e254c632cad 100644
--- a/servers/xr/xr_body_tracker.h
+++ b/servers/xr/xr_body_tracker.h
@@ -135,11 +135,11 @@ public:
 		JOINT_LEFT_WRIST_TWIST,
 		JOINT_RIGHT_SCAPULA,
 		JOINT_RIGHT_WRIST_TWIST,
-		JOINT_LEFT_ANKLE_TWIST,
-		JOINT_LEFT_ANKLE,
+		JOINT_LEFT_FOOT_TWIST,
+		JOINT_LEFT_HEEL,
 		JOINT_LEFT_MIDDLE_FOOT,
-		JOINT_RIGHT_ANKLE_TWIST,
-		JOINT_RIGHT_ANKLE,
+		JOINT_RIGHT_FOOT_TWIST,
+		JOINT_RIGHT_HEEL,
 		JOINT_RIGHT_MIDDLE_FOOT,
 
 		JOINT_MAX,