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import maya.cmds as cmds
import pymel.core as pm

selection = cmds.ls(sl=True)
print selection
object_locator_list = []

# create sets to select the controls and locators later
ctrl_set = cmds.sets(empty=True, name='baked_worldspace_ctrl_set')
loc_set = cmds.sets(empty=True, name='baked_worldspace_loc_set')

for obj in selection:
    # get objects xform in world space
    obj_xform = pm.xform(obj, q=True, matrix=True, worldSpace=True)
    # create a locator
    loc = pm.spaceLocator(name=('|' + obj + '_locator'))
    print loc
    # snap the locator to the object
    pm.xform(loc, matrix=obj_xform, worldSpace=True)
    # put the object and its locator into a list
    object_locator_list.append((obj, loc))    
    
    # put the obj and the locator into their respective sets
    cmds.sets(obj, addElement=ctrl_set)
    cmds.sets(loc.name(), addElement=loc_set)

# store the time range start/end    
range_min = int(pm.playbackOptions(q=True, min=True))
range_max = int(pm.playbackOptions(q=True, max=True))

# store current time
init_time = pm.currentTime(q=True)
# get the current autokey setting to restore later
auto_key_state = pm.autoKeyframe(q=True, state=True)
# turn off auto key for now
pm.autoKeyframe(state=False)

# go through the time range, keying each locator to match the objects
for t in range(range_min, range_max+1):
    pm.currentTime(t)
    for(target_obj, loc) in object_locator_list:
        target_xform = pm.xform(target_obj, q=True, matrix=True, worldSpace=True)
        pm.xform(loc, matrix=target_xform, worldSpace=True)
        pm.setKeyframe(loc, attribute=['t','r','s'], respectKeyable=True)
        
pm.currentTime(init_time)
pm.select(selection)

pm.autoKeyframe(state=auto_key_state)