Update video generation to use Drake's VideoWriter instead of Meshcat

[ebianchi]

With some Drake changes, our video rollout generation using Meshcat had broken. These changes switch to the newer Drake VideoWriter. The generated rollout video is created via the same inputs (a DrakeSystem, a pytorch tensor of a trajectory, and a frame rate) and returns the same outputs (a (1, T, 3, H, W) numpy array of an RGB frame per time step, and a true frame rate).

One of the Drake functions used by this fix is an overloaded version of SceneGraph.RemoveRole, functionality which first made it into the Drake nightly release on January 24th, 2023 -- again, as of the time of making this PR, this change requires Drake functionality that is not yet in the stable Drake release.

Some nice-to-haves that are not yet implemented include:

• [x] Show the ground in the generated videos. Currently everything is just the background color, so the only sense of the table is from the ground truth system.

An example of a generated toss video using these updates:

[ebianchi]

Update: With the latest commit, the ground plane is also rendered. The ground is slightly transparent to illustrate any penetrating geometries.

[ebianchi]

The latest commit addresses all of the requested changes, however with some comments on the VIDEO_FILENAME definition -- see that conversation above.

[ebianchi]

Added a TODO comment and resolved the remaining conversation. Ready for another review or merge when you're ready, @mshalm.