I have created a test case:

names = ['A01', 'A02', 'B01', 'B02']


def test_bakeResults(test_grp):
    if test_grp == 'A':
        loc01_name = names[0]
        loc02_name = names[1]
    else:
        loc01_name = names[2]
        loc02_name = names[3]
        
    loc01 = cmds.spaceLocator(name=loc01_name)
    cmds.setKeyframe(loc01)
    
    loc02 = cmds.spaceLocator(name=loc02_name)
    cmds.parentConstraint(loc02, loc01)
    cmds.currentTime(1)
    cmds.setKeyframe('{0}.translateZ'.format(loc02_name))
    cmds.currentTime(10)
    cmds.move(5, z=True)
    cmds.setKeyframe('{0}.translateZ'.format(loc02_name))
    
    if test_grp == 'A':
        cmds.bakeResults(
            '|{0}'.format(loc01_name),
            simulation=True,
            time=(3, 5),
            preserveOutsideKeys=True
        )
        cmds.group(loc02_name, loc01_name, name='python')
    else:        
        from maya import mel
        mel.eval('bakeResults -t (3+ ":" + 5) -sm true -hi both -at tz {0}'.
format(loc01_name))
        cmds.group(loc02_name, loc01_name, name='mel')


test_bakeResults('A')
test_bakeResults('B')

In the above test case, check out both `A01` and `B01` and I am trying to 
get `B01` scenario.

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