Export points data with normals and RGB

I am trying to export point cloud from a Obj mesh with normals and color information.

Just Points can be exported with vtkOBJReader as -

reader = vtk.vtkOBJReader()
polyData = reader.GetOutput()

points = vtk.util.numpy_support.vtk_to_numpy(polyData.GetPoints().GetData())

Could someone please help in use of vtkOBJImporter to load texture data and export point coordinates along with normals and RGB values in Python?