I tried crafting a simple single face mesh for unit tests. It was pretty harrowing, and finally I resorted to exporting one from Blender and simplifying the result instead. It is not a very friendly format for hand-editing in my opinion.
/edit: Note that that I was trying to hand-craft a mesh which isn't reasonable anyway. It may be that describing kinematic structures (lets not say chains) is much more human friendly.
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