Are newton.Mesh objects instanced by the engine?

[bkolligs]

I'm trying to load in a custom mesh from a USD as a newton.Mesh, similar to the shapes example, but noticing that more replicating more meshes seems to slow the simulation down. In constrast, much more complicated meshes can be loaded in IsaacLab without as much of a performance hit.

[momo-van]

@bkolligs can you please provide some quantification and comparisons?

@AnkaChan for viz

[bkolligs]

I haven’t run this in a while, so would need to try and recreate my tests. Will update once I have the chance to do that