feat: implement all universal router command encodings

[banteg]

What I did

fixes: #

How I did it

How to verify it

Checklist

• [ ] Passes all linting checks (pre-commit and CI jobs)
• [ ] New test cases have been added and are passing
• [ ] Documentation has been updated
• [ ] PR title follows Conventional Commit standard (will be automatically included in the changelog)

[banteg]

also possibly steal tests from here https://github.com/banteg/universal-router/blob/master/tests/test_encoding.py

[fubuloubu]

Note: https://github.com/ApeWorX/ethpm-types/pull/124 will remove the mypy error E: Missing named argument "internalType" for "ABIType" [call-arg]