SAN FRANCISCO—An explosive new lawsuit paints a picture of mismanagement, nepotism and greed at Hyperloop One, the high-speed train company conceived by business magnate Elon Musk.

In a complaint filed on Tuesday in Los Angeles Superior Court, four of Hyperloop’s former employees, including co-founder Brogan BamBrogan and former assistant general counsel David Pendergast, allege that “those in control of the company continually used the work of the team to augment their personal brands, enhance their romantic lives, and line their pockets (and those of their family members).” The defendants are Hyperloop, company co-founder Shervin Pishevar, Vice Chairman Joseph Lonsdale, CEO Rob Lloyd and former Chief Legal Officer Afshin Pishevar—Shervin Pishevar’s brother, who left the company last month.

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