Isaac Sim with FEM-Softbody

Hi, I use the isaac sim 2022.2.0 now, and I saw that the isaac orbit had support soft body simulation ( Anyone knows that it supports which type of soft body (FEM or spring-damper or …)? and do you know how to simulate the soft body in Isaac sim, I’m the new for isaac sim.

You can find more information about orbit in here: 7. Isaac Orbit (Preview) — Omniverse IsaacSim latest documentation