UCAN v0.10/v1.0 and CACAO v3 support

[chunningham]

Description

The CACAO, UCAN and SIWE-Recap specs have been updated. This PR updates kepler to support the latest versions of these specs. This PR depends on cacao-rs#27 and ssi#510 being merged first. Specifically it:

• updates dependancies for cacao and ucan
• moves shared validation logic for delegation/invocation to the models mod
• updates load tests
• removes a lot of glue code which was needed to translate the old cacao/ucan capabilities into the cap model of the database
• update sea-orm
• updates kepler-lib to export the updated types
• updates kepler-sdk to build the updated cacaos/ucans
• fixes generation of did:key DIDs for Peers

Type

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Diligence Checklist

(Please delete options that are not relevant)

• This change requires a documentation update
• I have included unit tests
• I have updated and/or included new integration tests
• I have updated and/or included new end-to-end tests
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• Any dependent changes have been merged and published in downstream modules