Poseidon hash

[XuyangSong]

• Add poseidon hash implementation and its circuit
• Add poseidon hash scripts for hardcode tests
• Add poseidon hash for BLS12-377 Scalar Field and tests(may need for different WIDTH versions)
• Add poseidon hash for BLS12-377 Base Field and tests
• Get rid of Penumbra Poseidon377.
• Check the parameters generation for different curves, a discussion here
• When the zk-garage/plonk poseidon hash is merged, fetch the upstream.

[XuyangSong]

We may need hash from bytes, I'll add it later.
And hashes of bls12_377::BaseField are generated automatically, not tested yet. Especially we need to check the round number generation from the paper.

Let's merge this first. So some works depended on hash can be done in parallel.

[XuyangSong]

To keep consistent with zk-garage plonk, move poseidon impl and tests to ark-plonk.