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refactor: better organization and support for advanced executors
* Renames `Gateway` to `Executor` with strict validation via Zod.
* Attaches executor specific configuration to the executor, instead of
letting (previous) gateways extract information through multiple layer
of indirections from the `Environment`.
* This also resulted in lots of difficulties around generics and
heritage.
* No longer passes around gateway, or executors as they can be directly
accessed from the `Environment`.
* Adds a compatibility layer for old configs where the local executor is
"assumed" and configured at the top-level environment config object.
* Updates the remote environment example with the new API.
* Improves the gateway/executor API to be better named and support async
model validation, or destroying.
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