trait RipperDualActuators:
    chassis:
        left_lower_ripper_connector: chassis.body.mc_RipperLower_L
        left_mid_ripper_connector: chassis.body.mc_RipperMid_L
        left_upper_ripper_connector: chassis.body.mc_RipperUpper_L
        right_lower_ripper_connector: chassis.body.mc_RipperLower_R
        right_mid_ripper_connector: chassis.body.mc_RipperMid_R
        right_upper_ripper_connector: chassis.body.mc_RipperUpper_R

    ripper is Vehicles.Ripper.PowerAngle.DualLiftDualTiltActuated:
        frame_angle: 0
        frame:
            left_body is Physics3D.Bodies.RigidBody with agxRipper.Arm_L:
                kinematics.local_transform.position: {0,0,0}
            right_body is Physics3D.Bodies.RigidBody with agxRipper.Arm_R
            left_shank_connector: ripper.frame.left_body.hinge_ArmToRipperBeam_L_mc
            right_shank_connector: ripper.frame.right_body.hinge_ArmToRipperBeam_R_mc
            left_connector: ripper.frame.left_body.mc_Attachment_Lower_L
            right_connector: ripper.frame.right_body.mc_Attachment_Lower_R
            left_actuator_connector: ripper.frame.left_body.mc_Attachment_Mid_L
            right_actuator_connector: ripper.frame.right_body.mc_Attachment_Mid_R
        shank:
            body is Physics3D.Bodies.RigidBody with agxRipper.RipperBeam:
                kinematics.local_transform.position: {0,0,0}
            left_frame_connector: ripper.shank.body.hinge_ArmToRipperBeam_L_mc
            right_frame_connector: ripper.shank.body.hinge_ArmToRipperBeam_R_mc
            left_actuator_connector: ripper.shank.body.mc_Attachment_Upper_L
            right_actuator_connector: ripper.shank.body.mc_Attachment_Upper_R

    ripper_connection is Vehicles.Ripper.Connections.PowerAngle.DualLiftDualTiltActuated:
        local_transform.position: {0,0,0}
        ripper: ripper
        left_chassis_connector: chassis.left_lower_ripper_connector
        right_chassis_connector: chassis.right_lower_ripper_connector
        left_lift_actuator_connector: chassis.left_mid_ripper_connector
        right_lift_actuator_connector: chassis.right_mid_ripper_connector
        left_tilt_actuator_connector: chassis.left_upper_ripper_connector
        right_tilt_actuator_connector: chassis.right_upper_ripper_connector
