Add create client, connections and channels to the sidecar CLI

[gjermundgaraba]

Add a CLI command for each of these scenarios:

• Create clients on both chains
• Create connections on both chains
• Create channels on both chains (transfer only needed)

[gjermundgaraba]

Completed in https://github.com/cosmos/interchain-attestation/commit/60e2f383981cca20d8fac6b90e430074d679a11b