Refactor Cosmos messages and payloads

[soareschen]

Description

This PR includes various refactoring of the message and payload types for ibc-relayer-cosmos, so as to make CosmosChain to be more generic to support non-Cosmos counterparty chains such as solomachine.

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PR author checklist:

• Added changelog entry, using unclog.
• Added tests: integration (for Hermes) or unit/mock tests (for modules).
• Linked to GitHub issue.
• Updated code comments and documentation (e.g., docs/).
• Tagged one reviewer who will be the one responsible for shepherding this PR.

Reviewer checklist:

• Reviewed Files changed in the GitHub PR explorer.
• Manually tested (in case integration/unit/mock tests are absent).