simple install without ipython and jupyter packages for non-gui environment

**Is your feature request related to a problem? Please describe.**
When installing the open3d by pip, several packages are installed like
```
Installing collected packages: ipython-genutils, tornado, jupyter-core, urllib3, pygments, nbformat, jupyter-client, nbclient, jupyterlab-pygments, prometheus-client, nbconvert, ipykernel, notebook, jupyter-server, nbclassic, jupyterlab-widgets, jupyterlab-server, jupyterlab, jupyter-packaging, ipywidgets
```

The packages like `ipython` and `jupyter-*` related are often unnecessary for non-gui usage, e.g., remote linux server.

**Describe the solution you'd like**
Will it possible to provide an option when installing without `ipython` & jupyter related packages for command only environment?

For example,
```
pip install open3d-core
or
pip install open3d-clean
or
pip install open3d-nonvisual
```

Something like that?