Replace gym with gymnasium

[Adaickalavan]

1. This pull request is a step towards replacing gym with gymnasium. Related issue Minimize core package dependencies #1981.

   • info returned by hiway-v1 in reset() and step() methods are unified.
   • Seed of hiway-v1 env can be retrieved through a new property seed.
   • Replaced instances of hiway-v0 and gym with hiway-v1 and gymnasium, respectively.

2. The following are the remaining components which still use gym. They are to be removed or made optional in subsequent pull requests.

   • SMARTS/smarts/env/hiway_env.py
   • SMARTS/smarts/env/tests/test_hiway_env.py
   • SMARTS/smarts/env/gymnasium/wrappers/api_reversion.py
   • SMARTS/examples/rl/rllib
   • SMARTS/smarts/env/wrappers/gif_recorder.py
   • SMARTS/smarts/env/wrappers/record_video.py
   • SMARTS/smarts/env/wrappers/recorder_wrapper.py
   • SMARTS/zoo/evaluation/npc_ego_example.py
   • SMARTS/zoo/policies/cross-rl-agent
   • SMARTS/zoo/policies/rl-agent

[Gamenot]

I am seeing that this is a step rather than a full replacement (it does not remove gym entirely.)