GCSTrajectoryOptimization can reproduce the examples from the paper

[RussTedrake]

https://arxiv.org/abs/2205.04422

@wrangelvid is making great progress! We agreed to make this issue to track the status.

Still TODO:

• [x] Time costs (#19301)
• [x] Velocity constraints on Subgraphs (#19334)
• [x] Velocity constraints on EdgesBetweenSubgraphs (#19357)
• [ ] Energy Costs
• [x] Improve rounded problem in GraphOfConvexSets (#19816)
• [x] Remove zero columns from constraints added to the graph (#19444)
• [x] Parallelize intersection checks in AddRegions() (#19337)