Remove zkProgrammable (rebased) WIP

[ejMina226]

The latest version of o1js includes the ability to mock a zkProgram. This was the original motivation behind the zkProgrammable abstract class and so it can be removed. This PR includes the following:

Upgrade o1js to version 2. Fix the types that have changed because of this. Remove zkProgrammable and WithZkProgrammable and use zkProgramFactory and WithZkProgram

Note Special attention should be paid to the SettlementProvingTask.ts

TODO: Rebase onto #258 and see if tests pass. This will make sure that the underlying branch has zero broken tests so any further tests that are broken must have come from these changes.