global DR_GROUP_ID
global drg
try:
    if DR_GROUP_ID >= 0:
        DR_GROUP_ID += 1
except NameError:
    DR_GROUP_ID = 0
    drg = []

drg.append(trick.DRBinary("StateData"))
drg[DR_GROUP_ID].set_freq(trick.DR_Always)
drg[DR_GROUP_ID].set_cycle(0.10)
drg[DR_GROUP_ID].set_single_prec_only(False)
drg[DR_GROUP_ID].add_variable("dyn.body.force[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.force[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.force[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][0]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][1]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][2]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][0]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][1]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][2]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][0]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][1]")
drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][2]")
drg[DR_GROUP_ID].add_variable("dyn.body.pos[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.pos[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.pos[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.angle[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.vel[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.vel[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.vel[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.acc[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.acc[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.acc[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.omega[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.omega[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.omega[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[2]")
drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[0]")
drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[1]")
drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[2]")



trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
drg[DR_GROUP_ID].enable()