code: def torch2o3d(data, color=[1, 0, 0]):
      xyz = data.pos
      norm = getattr(data, "norm", None)
      pcd = open3d.geometry.PointCloud()
      pcd.points = open3d.utility.Vector3dVector(
          xyz.detach().cpu().numpy()
      )
      if norm is not None:
          pcd.normals = open3d.utility.Vector3dVector(
              norm.detach().cpu().numpy()
          )
      pcd.paint_uniform_color(color)
      return pcd
  
imports: import open3d
  import random
label_desc: Use image node_id 4 for calling a global function with example usage: torch2o3d(data, color) and returns: pcd