use strict;
use warnings;
use Data::Dumper;

my (%coords, @keys, @p, $data, $key, $points, $i);

$data = join '', <DATA>;

while ($data =~ /geometry (\w+).*?point \[(.*?)\]/gs) {
   $key = $1; $points = $2;
   @p = $points =~ /(-?\d+\.\d+)/g;
   my @points;
   for ($i = 0; $i < $#p; $i += 3) {
       push @points, [$p[$i], $p[$i+1], $p[$i+2]];
   }
   $coords{$key} = \@points;
   push @keys, $key;
}

print Dumper(\@keys, \%coords);

__DATA__
        geometry IndexedFaceSet {
            coord
            Coordinate {
                point [  265.185 -166.225 -510.375,
                     264.529 -166.901 -513.43,
                     269.321 -166.425 -510.918,
                     271.021 -166.956 -513.279,
                     271.223 -167.21 -514.637,
                     272.77 -166.984 -514.019,
                     270.767 -167.555 -516.859,
                     268.668 -167.344 -515.143,
                     272.884 -167.285 -515.945,
                     266.267 -167.539 -516.835,
                     267.193 -167.766 -518.544,
                     272.686 -167.438 -517.418,
                     269.214 -167.83 -519.399,
                     274.761 -166.996 -515.928,
                     275.801 -166.946 -519.035,
                     264.372 -167.451 -517.076,
                     266.21 -167.785 -519.148,
                     263.801 -167.367 -516.587,
                     269.266 -167.919 -521.463,
                     271.322 -167.821 -522.477,
                     266.656 -168.197 -528.597,
                     269.644 -168.342 -527.906,
                     267.007 -167.981 -524.961,
                     264.07 -167.493 -517.639,
                     263.244 -167.65 -520.707,
                     267.726 -167.91 -521.09,
                     264.468 -167.739 -523.493]
                  }