Do you support point cloud optimal superposition? [question]

### 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

Hello,

If I have point clouds A and B, can you compute the optimal rigid body transformation (6D)
for going from A to B?

Do you support points in dimensions higher than 3?
E.g. I have a use-case in 4 dimensions.
Maybe, the best interface would be to allow the user to supply a point distance function
with a default of Euclidian distance for 3D points.

Last time I looked for methods able to do this, it seemed RANSAC would be adequate.

Regards,
Francois.