Isaac Sim: Creating/editing a mesh in Python


I’m looking into creating custom environments procedurally through the python API.
I have gone through the documentation and can not seem to find a way to manually edit the vertices/faces of a mesh of an object. The goal is to take a plane (or other basic object) and add vertices/edit their positions to create a non-uniform surface.

Is this something that is currently possible in Isaac sim and the Python API?

Many thanks