printing open3d.cpu.pybind.t.pipelines.registration.RegistrationResult throws RuntimeError

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

### Describe the issue

Printing an object of type `open3d.cpu.pybind.t.pipelines.registration.RegistrationResult` fails with a `RuntimeError`. This is unfortunate, because it took me quite a long time to realize that when I run a jupyter cell with:

```python
o3d.t.pipelines.registration.icp(source, target, max_correspondence_distance)
```

the actual registration worked just fine, but the printing of the resulting object failed.

### Steps to reproduce the bug

Run the following code in a script or jupyter:

```python
import open3d as o3d

demo_icp_pcds = o3d.data.DemoICPPointClouds()
source = o3d.t.io.read_point_cloud(demo_icp_pcds.paths[0])
target = o3d.t.io.read_point_cloud(demo_icp_pcds.paths[1])
max_correspondence_distance = 0.07

result = o3d.t.pipelines.registration.icp(
source,
target,
max_correspondence_distance
)

print(type(result))
print(result)
```

### Error message

Not very verbose:

```python
Traceback (most recent call last):
File "test.py", line 15, in
print(result)
RuntimeError: invalid type specifier
```

### Expected behavior

Not throwing an error and printing anything, even just the class string.

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 20.04
- Python version: 3.8.10 (default, Jun 22 2022, 20:18:18) [GCC 9.4.0]
- Open3D version: 1.16.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip
- Compiler version (if built from source): N/A
```

### Additional information

_No response_