You could try the following code to load your data:
data = pd.read_csv(
    './3d.csv',
    sep='\|', skiprows=2, engine='python', names=['labels', 'points',],
    usecols=[1, 2])

labels = torch.from_numpy(data['labels'].values)
points = data['points'].apply(lambda x: np.array([float(x_) for x_ in re.split(',|\s', x)]))
nb_samples = len(points)
points = torch.from_numpy(np.stack(points.values).reshape(nb_samples, -1, 3)).float()