# Basic tier — core simulation and plotting (+ diagram topology via Graphviz).
# Conda mirror: environment-basic.yml. Colab already ships numpy/scipy/matplotlib.
#
# Install:
#   pip install -r requirements.txt
#
# No Graphviz (skip plot_diagram(); see install.md):
#   pip install -r requirements-nographviz.txt
#
# Full tier: requirements-full.txt / requirements-full-nographviz.txt
#
# Ipopt/cyipopt is optional (not listed here); trajopt defaults to SciPy.

# --- Core (required) ---
numpy
scipy
matplotlib
graphviz
