Merge demo sim

[abramowitzK]

:book: Summary

Merging relevant stuff from demo_sim that we developed on stage. Mostly jocs files and some rudimentary repeat stuff. Also updated jocs specification and files.

:mag: Details

:heavy_check_mark: Testing

• [x] Runs
  • [ ] Valgrind :cry:

:thinking: :shipit:

[tessmichi]

LGTM