what can I generate the trained data?

[qyp-robot]

HI! @TechyRio
when I want to generate my trained data, I find need the "data_root = /home/qyp/ku_wenjian/gpd/bigbird_pcds/" file. which include some .pcd file and the nomals file?

what's more, I find "objects_file_location = /home/qyp/ku_wenjian/gpd/bigbird_pcds/objects.txt" file ,it contains names of special .pcd?
it likes this ：
"advil_liqui_gels"
"mustard_bottle" ？

the end, how can I convert the .ply file from Bigbird database to .pcd file, and generate nomals .csv file?
thank you very much!