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BA-Mohr-Prikhodovsky

Til Mohr requested to merge randomization into master

Merging the work of our bachelor theses (@rodionprikhodovsky & @TM)

⚠ Merge only after accepting simulation!59 (merged) and hardware_emulator!20 (merged). Then, rerun pipeline to see if it is working. ONLY MERGE AFTERWARDS

If version of MontiSim changes, update Hardware Emulator first!

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