import pymel.core as pm
obj = pm.selected()
if obj:
sf = pm.playbackOptions(q=True,minTime=True)
ef = pm.playbackOptions(q=True,maxTime=True)
print sf,ef
for i in obj:
loc = pm.spaceLocator(n="_Const_" + i.name())
cns = pm.parentConstraint(i,loc)
pm.bakeResults(loc,simulation=True,t=(sf,ef),sampleBy=1,at=["t","r"])
pm.delete(cns)
try:
pm.pointConstraint(loc,i)
except:
pass
try:
pm.orientConstraint(loc,i)
except:
pass