feat: implement Plonk verifier in-circuit

[ivokub]

With #840 it becomes easier to implement generic Plonk verifier in-circuit for emulated and native fields (2-chains).

This requires:

• hash-to-field. Hash to field is used to map the commitment as a public input. Right now we use the standard hash-to-field but this is too expensive as uses SHA2 internally. We should consider using MiMC directly.
• for that, we need emulated MiMC hashing.
• we also compute a Fiat-Shamir challenge which right now is hardcoded with SHA2. We need to make the hash function for the FS and hash-to-field configurable. This means that we need to add prover/verifier options in gnark which allows to change the implementations.
• add batch KZG verification to gadget. We have implemented KZG verification in refactor: generic KZG and Groth16 verifier #840, but for a single instance. Using folding it is possible to make the verification more efficient.