time
J1.phi
J1.w
clutch1.phi_rel
clutch1.w_rel
clutch2.phi_rel
clutch2.w_rel
clutch3.phi_rel
clutch3.w_rel
clutch1.mode
clutch1.startBackward
clutch1.startForward
clutch2.mode
clutch2.startBackward
clutch2.startForward
clutch3.mode
clutch3.startBackward
clutch3.startForward
