# Description

This MR adds schemas and spawners to create deformable bodies based on
primitive shapes. It uses the latest PhysX 5.4 support for FEM
simulation of deformable bodies. The MR adds the required demo and docs
changes.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

https://github.com/isaac-sim/IsaacLab/assets/12863862/9c239d6d-098d-4c70-b6fd-0a73c74c80c4

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there