Support using the Pythonic way of running CloudXR in Isaac ROS

[kajananchinniahNV]

Is your feature request related to a problem? Please describe.
Currently Isaac ROS uses run_cloudxr_via_docker.sh to run. We should migrate Isaac ROS to using the Pythonic way of doing it instead and deprecate (or stop using) run_cloudxr_via_docker.sh once possible.