feat: penumbra ics-20 test cases

[zbuc]

Description

This PR finishes work started in https://github.com/strangelove-ventures/interchaintest/pull/837 to introduce tests for Penumbra, both for Penumbra <-> Penumbra and Penumbra <-> Cosmos cases, exercising both successful transfers and timeouts based on height and timestamp in both directions.

How to test

$ go test -v -race ./examples/penumbra/penumbra_ibc_test.go

Additional Information

This requires some changes to Penumbra that haven't landed in a release yet. When the next release for Penumbra lands, a new image should be pushed out through Heighliner. Otherwise, to test against the current Penumbra main branch you can modify the configuredChains.yaml as follows:

penumbra:
  name: penumbra
  type: penumbra
  bin: cometbft
  bech32-prefix: penumbrav2t
  denom: upenumbra
  gas-prices: 0.0upenumbra
  gas-adjustment: 2.0
  trusting-period: 672h
  images:
    - repository: ghcr.io/strangelove-ventures/heighliner/cometbft
      uid-gid: 1025:1025
    - repository: penumbra
      uid-gid: 1025:1025

And build a local tagged version of the Penumbra image with Heighliner:

$ heighliner build -c penumbra -o penumbra-zone -g main -t local