Hi,
Not an easy question.
I guess that you have to save almost everything, since substeps will
change positions and contact forces.
Scene contains everything (exception for local variables and functions
defined in your script). It is saved for instance if you type
O.saveTmp(). And reloaded with O.reload(). You could probably use that
for a start. There are probably more efficient ways but it is hard to
imagine without looking at the details of odeint.

Bruno


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