diff --git a/userspace/Pipfile b/userspace/Pipfile
index c84db08..eb11540 100644
--- a/userspace/Pipfile
+++ b/userspace/Pipfile
@@ -26,6 +26,7 @@ parameterized = "*"
 inputs = "*"
 casadi = "*"
 future-fstrings = "*"  # needed for acados for now
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
diff --git a/userspace/Pipfile.lock b/userspace/Pipfile.lock
index 2110f51..e54f102 100644
--- a/userspace/Pipfile.lock
+++ b/userspace/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "ec504d81eba32975f95f66b92eba355826065d5c9a512281988dc928e3b047f4"
+            "sha256": "5cde261d979164bae535c748649e5fd9b403fbdf9fe873d4a652e9f67de4c0e8"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -392,7 +392,7 @@
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "itsdangerous": {
@@ -1271,7 +1271,7 @@
                 "sha256:1c5bebdf19d5051e2e1de6cf70adfc5948d47221f097fcff7a3ffc91e953eaf5",
                 "sha256:61901f81ff4017951119cd0d1ed9b7af31c821d6845c8c477587bbdcd5e5854e"
             ],
-            "markers": "python_version >= '3.6' and python_version < '4'",
+            "markers": "python_version >= '3.6' and python_version < '4.0'",
             "version": "==0.11.1"
         },
         "tqdm": {
@@ -1287,7 +1287,7 @@
                 "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
                 "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.3.0"
         },
         "urllib3": {
@@ -1800,7 +1800,7 @@
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "jedi": {
@@ -2145,6 +2145,15 @@
             ],
             "version": "==0.3.0"
         },
+        "tabulate": {
+            "hashes": [
+                "sha256:0ba055423dbaa164b9e456abe7920c5e8ed33fcc16f6d1b2f2d152c8e1e8b4fc",
+                "sha256:436f1c768b424654fce8597290d2764def1eea6a77cfa5c33be00b1bc0f4f63d",
+                "sha256:6c57f3f3dd7ac2782770155f3adb2db0b1a269637e42f27599925e64b114f519"
+            ],
+            "index": "pypi",
+            "version": "==0.8.10"
+        },
         "tenacity": {
             "hashes": [
                 "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f",
@@ -2174,7 +2183,7 @@
                 "sha256:1c5bebdf19d5051e2e1de6cf70adfc5948d47221f097fcff7a3ffc91e953eaf5",
                 "sha256:61901f81ff4017951119cd0d1ed9b7af31c821d6845c8c477587bbdcd5e5854e"
             ],
-            "markers": "python_version >= '3.6' and python_version < '4'",
+            "markers": "python_version >= '3.6' and python_version < '4.0'",
             "version": "==0.11.1"
         },
         "traitlets": {
@@ -2190,7 +2199,7 @@
                 "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
                 "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.3.0"
         },
         "urllib3": {