Global & Local Registration result not good

### 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](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch).

### My Question

Hi @reyanshsolis , I'm trying to do the global and local registration for my data following the [Open3D tutorial ](https://www.open3d.org/docs/release/tutorial/pipelines/global_registration.html). I've checked similar issues and tuned the parameters `voxel_size = 0.005` and `distance_threshold = voxel_size * 10`, but the result is not good.

The data is attached. Please check this link
[data.zip](https://github.com/isl-org/Open3D/files/15107036/data.zip)

The code is almost the same as the tutorial; I just modified the data loading part to read my data.

Here are some images of my current results; I expect the source chair mesh could align with the chair point cloud. There is another problem: the result differs from time to time, so the result below is the best one I have chosen. It is not good, but they are aligned reasonably after the global registration (but still wrong; the back of the chairs have different orientations).

Init status

Global Registration result: 

ICP Refine result: 

Could you please give some hints or help on this? Thank you very much!