def METHOD_NAME(values, jr, num_steps):
    """ Draw plots of all quantities with time. """
    joint_names = ["knee_r", "hip_r", "hip_l", "knee_l"]
    colors = {
        "knee_r": "red",
        "hip_r": "orange",
        "hip_l": "green",
        "knee_l": "blue",
        "source": "black"
    }
    qs_dict = {name: [] for name in joint_names}
    vs_dict = {name: [] for name in joint_names}
    torques_dict = {name: [] for name in joint_names}
    pressures_dict = {name: [] for name in joint_names}
    masses_dict = {name: [] for name in joint_names}
    mdots_dict = {name: [] for name in joint_names}
    contractions_dict = {name: [] for name in joint_names}
    forces_dict = {name: [] for name in joint_names}
    pressures_dict["source"] = []
    masses_dict["source"] = []
    time_list = []
    for k in range(num_steps):
        for name in joint_names:
            j = jr.robot.joint(name).id()
            qs_dict[name].append(gtd.JointAngle(values, j, k))
            vs_dict[name].append(gtd.JointVel(values, j, k))
            torques_dict[name].append(gtd.Torque(values, j, k))
            pressures_dict[name].append(
                values.atDouble(Actuator.PressureKey(j, k)))
            masses_dict[name].append(values.atDouble(Actuator.MassKey(j, k)))
            mdots_dict[name].append(
                values.atDouble(Actuator.MassRateActualKey(j, k)))
            contractions_dict[name].append(
                values.atDouble(Actuator.ContractionKey(j, k)))
            forces_dict[name].append(values.atDouble(Actuator.ForceKey(j, k)))
        masses_dict["source"].append(values.atDouble(
            Actuator.SourceMassKey(k)))
        pressures_dict["source"].append(
            values.atDouble(Actuator.SourcePressureKey(k)))
        time_list.append(values.atDouble(gtd.TimeKey(k)))
    fig, axs = plt.subplots(2, 3, sharex=True, figsize=(10, 6.7), dpi=80)
    for name in qs_dict.keys():
        axs[0, 0].plot(time_list,
                       qs_dict[name],
                       label=name,
                       color=colors[name])
    axs[0, 0].set_title("joint angle")
    for name in torques_dict.keys():
        axs[0, 1].plot(time_list,
                       torques_dict[name],
                       label=name,
                       color=colors[name])
    axs[0, 1].set_title("torque")
    for name in forces_dict.keys():
        axs[0, 2].plot(time_list,
                       forces_dict[name],
                       label=name,
                       color=colors[name])
    axs[0, 2].set_title("force")
    for name in pressures_dict.keys():
        axs[1, 0].plot(time_list,
                       pressures_dict[name],
                       label=name,
                       color=colors[name])
    axs[1, 0].set_title("pressure")
    for name in masses_dict.keys():
        axs[1, 1].plot(time_list,
                       masses_dict[name],
                       label=name,
                       color=colors[name])
    axs[1, 1].set_title("mass")
    for name in contractions_dict.keys():
        axs[1, 2].plot(time_list,
                       contractions_dict[name],
                       label=name,
                       color=colors[name])
    axs[1, 2].set_title("contraction")
    plt.show()