VoxelGrid rotate() function

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

I am trying to simply rotate a voxel grid. When I try to use the rotate() function i get the following error:
`voxels[0].rotate(R)
RuntimeError: [Open3D Error] (virtual open3d::geometry::VoxelGrid& open3d::geometry::VoxelGrid::Rotate(const Matrix3d&, const Vector3d&)) /root/Open3D/cpp/open3d/geometry/VoxelGrid.cpp:116: Not implemented`

### Steps to reproduce the bug

```python
# Compute the 3x3 rotation matrix for a 180-degree rotation about the Y-axis
rotation_vector = np.array([0, np.pi, 0]) # Y-axis rotation

R = o3d.geometry.get_rotation_matrix_from_axis_angle(rotation_vector)

voxels[0].rotate(R)

replace voxels[0] with a voxel grid
```

### Error message

`voxels[0].rotate(R)
RuntimeError: [Open3D Error] (virtual open3d::geometry::VoxelGrid& open3d::geometry::VoxelGrid::Rotate(const Matrix3d&, const Vector3d&)) /root/Open3D/cpp/open3d/geometry/VoxelGrid.cpp:116: Not implemented`

### Expected behavior

Rotates the voxel gird

### Open3D, Python and System information

```markdown
- Operating system: Fedora Linux 38
- Python version: Python 3.10.0
- Open3D version: 0.17.0
- Is this a remote workstation?: no
- How did you install Open3D?: pip
```

### Additional information

_No response_