Add more detailed documentation to Semaphore V4 contracts and libraries

[cedoor]

Tasks:

• [x] Circuits
• [x] @semaphore-protocol/contracts
• [x] Core packages
  • [x] @semaphore-protocol/identity
  • [x] @semaphore-protocol/group
  • [x] @semaphore-protocol/proof
• [x] @semaphore-protocol/utils
• [ ] @semphore-protocol/data https://github.com/semaphore-protocol/semaphore/pull/768
• [ ] @semaphore-protocol/hardhat
• [ ] @semaphore-protocol/cli