infra: set a minimum sagemaker version to avoid cython build issues

[AbeCoull]

Issue #, if available:

Description of changes:
PyYaml < 6 is broken due to the cython upgrade to 3.x. Therefore, we constrain sagemaker to the version that uses PyYaml~=6 to avoid the cython build issues.

yaml/pyyaml#736

Testing done:

Merge Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your pull request.

General

• I have read the CONTRIBUTING doc
• I used the commit message format described in CONTRIBUTING
• I have updated any necessary documentation, including READMEs and API docs (if appropriate)

Tests

• I have added tests that prove my fix is effective or that my feature works (if appropriate)
• I have checked that my tests are not configured for a specific region or account (if appropriate)

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.