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feat: map subject/object strings to UUIDs (#792)
In relation tuples and related API objects such as queries, subjects (including subject sets) and objects are now automatically mapped to and from UUIDs. The mapping is done in each handler and for each protocol (HTTP, gRPC) separately. Below the handler, all objects and subjects are now UUIDs, but still handled as strings, for the following reasons: * No duplication of datastructures (one for type `string`, one for type `uuid.UUID`). * No unnecessary copying, the mapping is done in-place and batched across multiple objects. Additionally, the migration (adding the string values to the mapping table and replacing the values with UUIDs) is now performed automatically as part of the migrations. Tests are in `migratest`, which now also handles `GoMigrations` properly. This method replaces the dedicated command in `cmd/migrate/...` for the UUID mappings.
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