Wrong bone inside BODY_34_BONES

[StephanHasler]

Preliminary Checks

• [x] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [x] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I want to use the local_[position,orientation]_per_joint from the SDK. To my understanding it gives the pose of each joint relative to its parent joint. So e.g. the pose of the RIGHT_HIP in the PELVIS (BODY34 model). I want to convert each local pose to an absolute pose in the camera. For this I'm traversing the BODY_34_BONES, to accumulate the local transformations. The BODY_34_BONES contains following entries:

(BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_FOOT),
(BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_HEEL),		
(BODY_34_PARTS.LEFT_HEEL, BODY_34_PARTS.LEFT_FOOT),

I think the last line is wrong. The LEFT_FOOT cannot be child of the LEFT_HEEL and LEFT_ANKLE at the same time. Also in the image in the online docu for BODY34 the LEFT_FOOT is only child of the LEFT_ANKLE.

The same issue exists for the RIGHT_FOOT.

Steps to Reproduce

...

Expected Result

(BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_FOOT), (BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_HEEL),

Actual Result

(BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_FOOT), (BODY_34_PARTS.LEFT_ANKLE, BODY_34_PARTS.LEFT_HEEL), (BODY_34_PARTS.LEFT_HEEL, BODY_34_PARTS.LEFT_FOOT),

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 22.04
ZED SDK: 4.2.3
pyzed: 4.2

Anything else?

No response