* gl

* stage 1 optimizations

* working optimized poseidon

* Fix posedion tests

* in progress gate type refactor

* working gates

* working e2e

* hm'

* hm2

* debug saga continues

* more debugging cry

* more debug

* it finally works

* optimizations

* more optimizations

* new changes

* more optimizations

* more cleanup

* some refactoring

* new files

* flattening of packages

* working commit

* more refactor

* more flattening

* more flattening

* more more refactor

* more optimizations

* more optimizations

* more optimizations

* plonk benchmark

* plonk

* fix r1cs

* resolve kevin's comments

* Update goldilocks/base.go

Co-authored-by: Kevin Jue <kjue235@gmail.com>

* Update goldilocks/base.go

Co-authored-by: Kevin Jue <kjue235@gmail.com>

* Update goldilocks/base.go

Co-authored-by: Kevin Jue <kjue235@gmail.com>

* Update goldilocks/quadratic_extension.go

Co-authored-by: Kevin Jue <kjue235@gmail.com>

* fix: resolve kevin's confusion

---------

Co-authored-by: Kevin Jue <kjue235@gmail.com>

* cleaned up qe api

* modified goldilocks poseidon to use optimized goldilocks operations

* better comment

* added goldilocks test cases

* some cleanup and comments

* changed poseidon constaints to frontend.Variable

* fixed double cast

* fixed bug in challenger