DriveTrain is Physics3D.System:
    engine_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    central_gear_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    left_clutch_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    right_clutch_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    diff_left_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    diff_right_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    left_brake_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    right_brake_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.1

    gear_box is DriveTrain.GearBox:
        forward_gears: [80, 45, 27]
        reverse_gears: [80, 45, 27]
        connectors: [engine_shaft.output, central_gear_shaft.input]
        initial_gear: 1

    differential is DriveTrain.Differential:
         gear_ratio: 2.0
         drive_shaft: central_gear_shaft
         left_axle_shaft: diff_left_shaft
         right_axle_shaft: diff_right_shaft
         locked_up: true
         locked_up_output.enabled: true

    left_clutch is DriveTrain.AutomaticClutch:
        initial_engagement_fraction: 0.0
        initially_engaged: true
        torque_capacity: 40000000
        min_relative_slip_ratio: 0.0001
        connectors: [differential.left_axle_shaft.output, left_clutch_shaft.input]

    right_clutch is DriveTrain.AutomaticClutch:
        initial_engagement_fraction: 0.0
        initially_engaged: true
        torque_capacity: 40000000
        min_relative_slip_ratio: 0.0001
        connectors: [differential.right_axle_shaft.output, right_clutch_shaft.input]

    left_brake is DriveTrain.ManualBrake:
        initial_engagement_fraction: 0.0
        torque_capacity: 6000000
        min_relative_slip_ratio: 0.0001
        connectors: [left_clutch_shaft.output, left_brake_shaft.input]

    right_brake is DriveTrain.ManualBrake:
        initial_engagement_fraction: 0.0
        torque_capacity: 6000000
        min_relative_slip_ratio: 0.0001
        connectors: [right_clutch_shaft.output, right_brake_shaft.input]

    motor is Physics1D.Interactions.RotationalVelocityMotor:
        target_speed: 0.0
        connectors: [engine_shaft.input]

    left_hinge_actuator is DriveTrain.HingeActuator:
        connector_1d: left_brake_shaft.output

    right_hinge_actuator is DriveTrain.HingeActuator:
        connector_1d: right_brake_shaft.output
