diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 8d43e10d608..2aea46eb596 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -345,11 +345,8 @@ jobs:
           PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
           mkdir universal_wheels
           pip install delocate
-          delocate-fuse -v x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
-          # Normalize file name as delocate-fuse doesn't update it
-          OLD_WHL_NAME=$(basename x64_wheels/open3d-*${PYTAG}*.whl)
-          NEW_WHL_NAME=${OLD_WHL_NAME/x86_64/universal2}
-          mv x64_wheels/${OLD_WHL_NAME} universal_wheels/${NEW_WHL_NAME}
+          delocate-merge -v -w universal_wheels x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
+          NEW_WHL_NAME=$(basename universal_wheels/open3d-*${PYTAG}*.whl)
           echo "PIP_PKG_NAME=$NEW_WHL_NAME" >> $GITHUB_ENV
 
       - name: Upload merged wheels
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1cb9bed658f..f0e48d95d00 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,6 +44,7 @@
 -   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
 -   Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
+-   Support lowercase types when reading PCD files (PR #6930)
 -   Unified cloud initializer pipeline for ICP (fixes segfault colored ICP) (PR #6942)
 
 ## 0.13
diff --git a/cpp/open3d/io/file_format/FilePCD.cpp b/cpp/open3d/io/file_format/FilePCD.cpp
index ce04f2e2d5b..17aa080cd29 100644
--- a/cpp/open3d/io/file_format/FilePCD.cpp
+++ b/cpp/open3d/io/file_format/FilePCD.cpp
@@ -220,7 +220,8 @@ bool ReadPCDHeader(FILE *file, PCDHeader &header) {
 double UnpackBinaryPCDElement(const char *data_ptr,
                               const char type,
                               const int size) {
-    if (type == 'I') {
+    const char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         if (size == 1) {
             std::int8_t data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -236,7 +237,7 @@ double UnpackBinaryPCDElement(const char *data_ptr,
         } else {
             return 0.0;
         }
-    } else if (type == 'U') {
+    } else if (type_uppercase == 'U') {
         if (size == 1) {
             std::uint8_t data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -252,7 +253,7 @@ double UnpackBinaryPCDElement(const char *data_ptr,
         } else {
             return 0.0;
         }
-    } else if (type == 'F') {
+    } else if (type_uppercase == 'F') {
         if (size == 4) {
             float data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -281,11 +282,12 @@ double UnpackASCIIPCDElement(const char *data_ptr,
                              const char type,
                              const int size) {
     char *end;
-    if (type == 'I') {
+    const char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         return (double)std::strtol(data_ptr, &end, 0);
-    } else if (type == 'U') {
+    } else if (type_uppercase == 'U') {
         return (double)std::strtoul(data_ptr, &end, 0);
-    } else if (type == 'F') {
+    } else if (type_uppercase == 'F') {
         return std::strtod(data_ptr, &end);
     }
     return 0.0;
@@ -297,13 +299,14 @@ Eigen::Vector3d UnpackASCIIPCDColor(const char *data_ptr,
     if (size == 4) {
         std::uint8_t data[4] = {0, 0, 0, 0};
         char *end;
-        if (type == 'I') {
+        const char type_uppercase = std::toupper(type, std::locale());
+        if (type_uppercase == 'I') {
             std::int32_t value = std::strtol(data_ptr, &end, 0);
             memcpy(data, &value, 4);
-        } else if (type == 'U') {
+        } else if (type_uppercase == 'U') {
             std::uint32_t value = std::strtoul(data_ptr, &end, 0);
             memcpy(data, &value, 4);
-        } else if (type == 'F') {
+        } else if (type_uppercase == 'F') {
             float value = std::strtof(data_ptr, &end);
             memcpy(data, &value, 4);
         }
diff --git a/cpp/open3d/t/io/file_format/FilePCD.cpp b/cpp/open3d/t/io/file_format/FilePCD.cpp
index 4aa229c0d55..2670e133d5a 100644
--- a/cpp/open3d/t/io/file_format/FilePCD.cpp
+++ b/cpp/open3d/t/io/file_format/FilePCD.cpp
@@ -89,30 +89,34 @@ struct WriteAttributePtr {
 };
 
 static core::Dtype GetDtypeFromPCDHeaderField(char type, int size) {
-    if (type == 'I') {
+    char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         if (size == 1) return core::Dtype::Int8;
         if (size == 2) return core::Dtype::Int16;
         if (size == 4) return core::Dtype::Int32;
         if (size == 8)
             return core::Dtype::Int64;
         else
-            utility::LogError("Unsupported data type.");
-    } else if (type == 'U') {
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
+    } else if (type_uppercase == 'U') {
         if (size == 1) return core::Dtype::UInt8;
         if (size == 2) return core::Dtype::UInt16;
         if (size == 4) return core::Dtype::UInt32;
         if (size == 8)
             return core::Dtype::UInt64;
         else
-            utility::LogError("Unsupported data type.");
-    } else if (type == 'F') {
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
+    } else if (type_uppercase == 'F') {
         if (size == 4) return core::Dtype::Float32;
         if (size == 8)
             return core::Dtype::Float64;
         else
-            utility::LogError("Unsupported data type.");
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
     } else {
-        utility::LogError("Unsupported data type.");
+        utility::LogError("Unsupported data type {}.", type);
     }
 }
 
@@ -305,13 +309,14 @@ static void ReadASCIIPCDColorsFromField(ReadAttributePtr &attr,
     if (field.size == 4) {
         std::uint8_t data[4] = {0};
         char *end;
-        if (field.type == 'I') {
+        char type_uppercase = std::toupper(field.type, std::locale());
+        if (type_uppercase == 'I') {
             std::int32_t value = std::strtol(data_ptr, &end, 0);
             std::memcpy(data, &value, sizeof(std::int32_t));
-        } else if (field.type == 'U') {
+        } else if (type_uppercase == 'U') {
             std::uint32_t value = std::strtoul(data_ptr, &end, 0);
             std::memcpy(data, &value, sizeof(std::uint32_t));
-        } else if (field.type == 'F') {
+        } else if (type_uppercase == 'F') {
             float value = std::strtof(data_ptr, &end);
             std::memcpy(data, &value, sizeof(float));
         }
diff --git a/cpp/pybind/geometry/boundingvolume.cpp b/cpp/pybind/geometry/boundingvolume.cpp
index e178adfe19b..4ffcbf8a52d 100644
--- a/cpp/pybind/geometry/boundingvolume.cpp
+++ b/cpp/pybind/geometry/boundingvolume.cpp
@@ -83,6 +83,27 @@ The returned bounding box is an approximation to the minimal bounding box.
      open3d.geometry.OrientedBoundingBox: The oriented bounding box. The
      bounding box is oriented such that the axes are ordered with respect to
      the principal components.
+)doc")
+            .def_static("create_from_points_minimal",
+                        &OrientedBoundingBox::CreateFromPointsMinimal,
+                        "points"_a, "robust"_a = false,
+                        R"doc(
+Creates the oriented bounding box with the smallest volume.
+
+The algorithm makes use of the fact that at least one edge of
+the convex hull must be collinear with an edge of the minimum
+bounding box: for each triangle in the convex hull, calculate
+the minimal axis aligned box in the frame of that triangle.
+at the end, return the box with the smallest volume
+
+Args:
+     points (open3d.utility.Vector3dVector): Input points.
+     robust (bool): If set to true uses a more robust method which works in
+          degenerate cases but introduces noise to the points coordinates.
+
+Returns:
+     open3d.geometry.OrientedBoundingBox: The oriented bounding box. The
+     bounding box is oriented such that its volume is minimized.
 )doc")
             .def("volume", &OrientedBoundingBox::Volume,
                  "Returns the volume of the bounding box.")