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I think after "install_package", you also need to do

sage: gap_reset_workspace()

and restart Sage (at least that is how it worked for me).

Then, you can do:

sage: for G in gap.AllSmallGroups(64):
....:     if G.Centre().Order()==1:
....:         raise RuntimeError
....:     else:
....:         print G.IdGroup()[2],
....:
1 2 3 4 5 6 ... 267

I guess, if you know GAP, that you will understand what the commands above do. And if you need to transform the groups into something Sage knows about (permutation groups and matrix groups), you can do:

PermutationGroup(G.IsomorphismPermGroup().Image().GeneratorsOfGroup())

where G is a group defined in the GAP interface. Unfortunately I don't know how to transform a group into a matrix group, in GAP.

Best regards, Simon