Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for master branch).

Describe the issue

When using this function for this mesh, I will get some weird voxel, it seems that the intersection judging in the function only consider the edge of the triangles.

test mesh
Mesh:

Voxel:

Steps to reproduce the bug

voxel_grid = o3d.geometry.VoxelGrid.create_from_triangle_mesh(
            part_mesh,
            voxel_size=0.01,
        )

Error message

No response

Expected behavior

No response

Open3D, Python and System information

- Operating system: Ubuntu 20.04
- Python version: Python 3.8 
- Open3D version: output from python: 0.17.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip

Additional information

No response