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Implement ICS 18 relayer and scenario script #201

@majecty

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@majecty

Relayers are entities in the ICS spec that relay datagrams between two chains.
A scenario script is a script that sends a packet and initializes client, connection, and channel.

We will implement a relayer and a scenario script using typescript. Since they are doing similar things (sending a transaction and querying chain information), I'll implement both of them at the same time.

Relayer

Scenario script

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