diff --git a/tools/python/requirements.lock.txt b/tools/python/requirements.lock.txt
index 5a4dcf4..61a4d62 100644
--- a/tools/python/requirements.lock.txt
+++ b/tools/python/requirements.lock.txt
@@ -8,6 +8,56 @@
     --hash=sha256:1e3c502a0a8205338fc74dadbfa321f8a0965441b39501e36796a47b4017b642 \
     --hash=sha256:d824961e4265367b0750ce58b07e564ad0b83ca64b335521cd3421e9b9f10d89
     # via -r tools/python/requirements.txt
+casadi==3.6.5 \
+    --hash=sha256:0118637823e292a9270133e02c9c6d3f3c7f75e8c91a6f6dc5275ade82dd1d9d \
+    --hash=sha256:02d6fb63c460abd99a450e861034d97568a8aec621fc0a4fed22f7494989c682 \
+    --hash=sha256:092e448e05feaed8958d684e896d909e756d199b84d3b9d0182da38cd3deebf6 \
+    --hash=sha256:0a38bf808bf51368607c64307dd77a7363fbe8e5c910cd5c605546be60edfaff \
+    --hash=sha256:0d6ee0558b4ecdd8aa4aa70fd31528b135801f1086c28a9cb78d8e8242b7aedd \
+    --hash=sha256:0e4a4ec2e26ebeb22b0c129f2db3cf90f730cf9fbe98adb9a12720ff6ca1834a \
+    --hash=sha256:1ce199a4ea1d376edbe5399cd622a4564040c83f50c50114fe50a69a8ea81d92 \
+    --hash=sha256:1ddb6e4afdd1da95d7d9d652ed973c1b7f50ef1454965a9170b657e223a2c73e \
+    --hash=sha256:314886ef44bd01f1a98579e7784a3bed6e0584e88f9465cf9596af2523efb0dd \
+    --hash=sha256:32644c47fbfb643d5cf9769c7bbc94c6bdb9a40ea9c12c54af5e2754599c3186 \
+    --hash=sha256:33afd1a4da0c86b4316953fe541635a8a7dc51703282e24a870ada13a46adb53 \
+    --hash=sha256:35b2ff6098e386a4d5e8bc681744e52bcd2f2f15cfa44c09814a8979b51a6794 \
+    --hash=sha256:3a3fb8af868f83d4a4f26d878c49f4acc4ed7ee92e731c73e650e5893418a634 \
+    --hash=sha256:3bdd645151beda013af5fd019fb554756e7dac37541b9f120cdfba90405b2671 \
+    --hash=sha256:409a5f6725eadea40fddfb8ba2321139b5252edac8bc115a72f68e648631d56a \
+    --hash=sha256:5266fc82e39352e26cb1a4e0a5c3deb32d09e6333be637bd78c273fa50f9012b \
+    --hash=sha256:5e8adffe2015cde370fc545b2d0fe731e96e583e4ea4c5f3044e818fea975cfc \
+    --hash=sha256:601b76b7afcb27b11563999f6ad1d9d2a2510ab3d00a6f4ce86a0bee97c9d17a \
+    --hash=sha256:6039081fdd1daf4ef7fa2b52814a954d75bfc03eb0dc62414e02af5d25746e8f \
+    --hash=sha256:7ea8545579872b6f5412985dafec26b906b67bd4639a6c718b7e07f802af4e42 \
+    --hash=sha256:83e3404de4449cb7382e49d811eec79cd370e64b97b5c94b155c604d7c523a40 \
+    --hash=sha256:8bbfb2eb8cb6b9e2384814d6427e48bcf6df049bf7ed05b0a58bb311a1fbf18c \
+    --hash=sha256:a1ae36449adec534125d4af5be912b6fb9dafe74d1fee39f6c82263695e21ca5 \
+    --hash=sha256:af95de5aa5942d627d43312834791623384c2ad6ba87928bf0e3cacc8a6698e8 \
+    --hash=sha256:b5192dfabf6f5266b168b984d124dd3086c1c5a408c0743ff3a82290a8ccf3b5 \
+    --hash=sha256:bceb69bf9f04fded8a564eb64e298d19e945eaf4734f7145a5ee61cf9ac693e7 \
+    --hash=sha256:be40e9897d80fb72a97e750b2143c32f63f8800cfb78f9b396d8ce7a913fca39 \
+    --hash=sha256:bebd3909db24ba711e094aacc0a2329b9903d422d73f61be851873731244b7d1 \
+    --hash=sha256:c661fe88a93b7cc7ea42802aac76a674135cd65e3e564a6f08570dd3bea05201 \
+    --hash=sha256:c6789c8060a99b329bb584d97c1eab6a5e4f3e2d2db391e6c2001c6323774990 \
+    --hash=sha256:c951031e26d987986dbc334492b2e6ef108077f11c00e178ff4007e4a9bf91d8 \
+    --hash=sha256:c98e68023c9e5905d9d6b99ae1fbbfe4b85ba9846b3685408bb498b20509f99a \
+    --hash=sha256:caf395d1e36bfb215b154e8df61583d534a07ddabb18cbe50f259b7692a41ac8 \
+    --hash=sha256:ccb962ea02b7d6d245d5cd40fb52c29e812040a45273c6eed32cb8fcff673dda \
+    --hash=sha256:d12b67d467a5b2b0a909378ef7231fbc9af0da923baa13b1d5464d8471601ac3 \
+    --hash=sha256:dbeb50726603454a1f85323cba7caf72524cd43ca0aeb1f286d07005a967ece9 \
+    --hash=sha256:deb2cb2bee8aba0c2cad03c832965b51ca305d0f8eb15de8b857ba86a76f0db0 \
+    --hash=sha256:e40afb3c062817dd6ce2497cd001f00f107ee1ea41ec4d6ee9f9a5056d219e83 \
+    --hash=sha256:e44af450ce944649932f9ef63ff00d2d21f642b506444418b4b20e69dba3adaf \
+    --hash=sha256:e96ca81b00b9621007d45db1254fcf232d518ebcc802f42853f57b4df977c567 \
+    --hash=sha256:eb311088dca5359acc05aa4d8895bf99afaa16c7c04b27bf640ce4c2361b8cde \
+    --hash=sha256:ee5a4ed50d2becd0bd6d203c7a60ffad27c14a3e0ae357480de11c846a8dd928 \
+    --hash=sha256:f62f779481b30e5ea88392bdb8225e9545a21c4460dc3e96c2b782405b938d04 \
+    --hash=sha256:f6e10b66d6ae8216dab01532f7ad75cc9d66a95125d421b33d078a51ea0fc2a0 \
+    --hash=sha256:f9c1de9a798767c00f89c27677b74059df4c9601d69270967b06d7fcff204b4d \
+    --hash=sha256:f9e82658c910e3317535d769334260e0a24d97bbce68cadb72f592e9fcbafd61 \
+    --hash=sha256:fe2b64d777e36cc3f101220dd1e219a0e11c3e4ee2b5e708b30fea9a27107e41 \
+    --hash=sha256:febc645bcc0aed6d7a2bdb6e58b9a89cb8f74b19bc028c41cc807d75a5d54058
+    # via -r tools/python/requirements.txt
 certifi==2022.9.24 \
     --hash=sha256:0d9c601124e5a6ba9712dbc60d9c53c21e34f5f641fe83002317394311bdce14 \
     --hash=sha256:90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382
@@ -304,6 +354,7 @@
     # via
     #   -r tools/python/requirements.txt
     #   bokeh
+    #   casadi
     #   contourpy
     #   matplotlib
     #   opencv-python
@@ -535,6 +586,7 @@
     --hash=sha256:e61ceaab6f49fb8bdfaa0f92c4b57bcfbea54c09277b1b4f7ac376bfb7a7c174 \
     --hash=sha256:f84fbc98b019fef2ee9a1cb3ce93e3187a6df0b2538a651bfb890254ba9f90b5
     # via
+    #   -r tools/python/requirements.txt
     #   bokeh
     #   mkdocs
     #   pyyaml-env-tag
diff --git a/tools/python/requirements.txt b/tools/python/requirements.txt
index 81d306d..086b138 100644
--- a/tools/python/requirements.txt
+++ b/tools/python/requirements.txt
@@ -23,3 +23,5 @@
 
 bokeh
 tabulate
+
+casadi
diff --git a/tools/python/whl_overrides.json b/tools/python/whl_overrides.json
index 1bf2cf2..f19d373 100644
--- a/tools/python/whl_overrides.json
+++ b/tools/python/whl_overrides.json
@@ -3,6 +3,10 @@
         "sha256": "1e3c502a0a8205338fc74dadbfa321f8a0965441b39501e36796a47b4017b642",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/bokeh-3.4.1-py3-none-any.whl"
     },
+    "casadi==3.6.5": {
+        "sha256": "8bbfb2eb8cb6b9e2384814d6427e48bcf6df049bf7ed05b0a58bb311a1fbf18c",
+        "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/casadi-3.6.5-cp39-none-manylinux2014_x86_64.whl"
+    },
     "certifi==2022.9.24": {
         "sha256": "90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382",
         "url": "https://software.frc971.org/Build-Dependencies/wheelhouse/certifi-2022.9.24-py3-none-any.whl"