diff --git a/tools/python/README.md b/tools/python/README.md
index 625cb24..25ef34f 100644
--- a/tools/python/README.md
+++ b/tools/python/README.md
@@ -50,7 +50,7 @@
 1. Follow the above procedure for adding new pip packages if not already done.
 2. Run the mirroring script.
 
-        bazel run //tools/python:mirror_pip_packages --config=k8_upstream_python -- --ssh_host <software>
+        bazel run //tools/python:mirror_pip_packages -- --ssh_host <software>
 
     where `<software>` is the `ssh(1)` target for reaching the server that hosts
     the FRC971 mirror.
diff --git a/tools/python/requirements.lock.txt b/tools/python/requirements.lock.txt
index a8a8f4d..c265e77 100644
--- a/tools/python/requirements.lock.txt
+++ b/tools/python/requirements.lock.txt
@@ -286,6 +286,10 @@
     --hash=sha256:8947af423a6d0facf41ea1195b8e1e8c85ad94ac95ae307fe11232e0424b11c5 \
     --hash=sha256:c8856a832c1e56702577023cd64cc5f84948280c1c0fcc6af4cd39006ea6aa8c
     # via -r tools/python/requirements.txt
+mpmath==1.3.0 \
+    --hash=sha256:7a28eb2a9774d00c7bc92411c19a89209d5da7c4c9a9e227be8330a23a25b91f \
+    --hash=sha256:a0b2b9fe80bbcd81a6647ff13108738cfb482d481d826cc0e02f5b35e5c88d2c
+    # via sympy
 numpy==1.23.5 \
     --hash=sha256:01dd17cbb340bf0fc23981e52e1d18a9d4050792e8fb8363cecbf066a84b827d \
     --hash=sha256:06005a2ef6014e9956c09ba07654f9837d9e26696a0470e42beedadb78c11b07 \
@@ -608,6 +612,10 @@
     # via
     #   glog
     #   python-dateutil
+sympy==1.12 \
+    --hash=sha256:c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5 \
+    --hash=sha256:ebf595c8dac3e0fdc4152c51878b498396ec7f30e7a914d6071e674d49420fb8
+    # via -r tools/python/requirements.txt
 urllib3==1.26.13 \
     --hash=sha256:47cc05d99aaa09c9e72ed5809b60e7ba354e64b59c9c173ac3018642d8bb41fc \
     --hash=sha256:c083dd0dce68dbfbe1129d5271cb90f9447dea7d52097c6e0126120c521ddea8
diff --git a/tools/python/requirements.txt b/tools/python/requirements.txt
index 0a5f24a..e758cf5 100644
--- a/tools/python/requirements.txt
+++ b/tools/python/requirements.txt
@@ -14,6 +14,7 @@
 shapely
 validators
 yapf
+sympy
 
 # TODO(phil): Migrate to absl-py. These are abandoned as far as I can tell.
 python-gflags
diff --git a/tools/python/whl_overrides.json b/tools/python/whl_overrides.json
index 6cb9998..a109969 100644
--- a/tools/python/whl_overrides.json
+++ b/tools/python/whl_overrides.json
@@ -67,6 +67,10 @@
         "sha256": "c8856a832c1e56702577023cd64cc5f84948280c1c0fcc6af4cd39006ea6aa8c",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/mkdocs-1.4.2-py3-none-any.whl"
     },
+    "mpmath==1.3.0": {
+        "sha256": "a0b2b9fe80bbcd81a6647ff13108738cfb482d481d826cc0e02f5b35e5c88d2c",
+        "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/mpmath-1.3.0-py3-none-any.whl"
+    },
     "numpy==1.23.5": {
         "sha256": "33161613d2269025873025b33e879825ec7b1d831317e68f4f2f0f84ed14c719",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/numpy-1.23.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl"
@@ -139,6 +143,10 @@
         "sha256": "8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/six-1.16.0-py2.py3-none-any.whl"
     },
+    "sympy==1.12": {
+        "sha256": "c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5",
+        "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/sympy-1.12-py3-none-any.whl"
+    },
     "urllib3==1.26.13": {
         "sha256": "47cc05d99aaa09c9e72ed5809b60e7ba354e64b59c9c173ac3018642d8bb41fc",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/urllib3-1.26.13-py2.py3-none-any.whl"