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The Physics Asset Tool enables you to add or replace the Physics Bodies and their associated Shapes ( Boxes , Spheres , Capsules , Tapered Capsules , and so on) attached to the Bones make up your Physics Asset.
By default, the Physics Editor Skeleton Tree panel only shows the Physics Bodies. Adding and replacing Physics Bodies is easier if you use the Options dropdown menu in the Skeleton Tree panel to show the Bones and Primitives as well.
Adding Physics Bodies to Bones
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Right-click on a Bone in the Skeleton Tree panel, then click on Add/Replace Body in the Context Menu .
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You can also right-click on a Bone in the VIewport to open the Context Menu.
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A new Physics Body will be added to the Bone, with the default Capsule Shape attached.
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If there was already a Physics Body atttached to the Bone, the new Physics Body and Capsule Shape will replace it.
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Alternatively, when starting with a Bone with no attached Physics Body, you can directly select one of the shapes under Add Shape in the Context Menu . This will create a new Physics Body with the selected Shape attached.
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If you right-click on a Physics Body and select Regenerate Bodies , a new Physics Body with a default Capsule Shape attached will be created to replace every currently-selected Physics Body.
Adding Shapes to Physics Bodies
To add a Shape to an existing Physics Body, right-click the Physics Body, then under Add Shape in the Context Menu , select the Shape you wish to add.
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A Physics Body can have more than one attached Shape, so delete the default Capsule if you do not want it to remain attached to the Physics Body.
Result
You should see that a corresponding body and shape have been added (and parented) to the selected bone.