'How can I convert 3D triangular mesh (vertices, faces) to mesh3d that can be used by rgl?

I have a 3D mesh list in R containing vertices and faces, I would like to resample/smooth/downsample this mesh to lower resolution and being homogenous using rgl package, such as function vcgIsotropicRemeshing(). However, I don't know how to convert vertices and faces into mesh3d format handles by rgl, could you please help? Another other R package doing a similar task would also be fine. Thanks in advance.



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