feat: switch from poetry to uv for environment management, and poetry to hatch for build backend

[drake-nominal]

UV offers numerous benefits over poetry, first and foremost with its speed. Without using poetry to manage the environment, it then made sense to switch to hatch for the build-backend, as it is a much more targeted project and excellently documented when it comes to writing the pyproject.toml.

I manually reviewed the generated wheels and sdists (.tar.gz) artifacts produced by uv build and poetry build, and the only difference I can detect is in the METADATA file created in the sdist, which is upgraded to a newer version with slightly different ways of presenting largely the same information.

A lot of the work ultimately came down to converting from the poetry-specific version specifier of ^x.y.z to the pep-compliant>=x.y.z,<x+1, as well as =* => >=0.0.0.

[alkasm]

This looks great! Appreciate the thoroughness, stoked to bring in uv!