Open Maya

General

• Admittedly, I have an inferior knowledge on this API. It is somewhat low level but nevertheless powerful than the other Python APIs.
• You can check a general overview on the official documentation.
• Another comprehensive getting started resource.
• MDAG Path https://gist.github.com/taikomatsu/b0a9eb29b19e3c890d1a
• https://www.programcreek.com/python/example/103924/maya.OpenMaya.MDagPath

import maya.api.OpenMaya as om # API 2.0

import maya.api.OpenMayaAnim as omanim
import maya.api.OpenMayaRender as omrender

import maya.OpenMaya as om # API 1.0. No reason to use except for legacy purposes

from maya.api.OpenMaya import MVector, MMatrix, MPoint
import maya.cmds as cmds

def get_world_transform (obj):
    return MMatrix ( cmds.xform( obj, q=True, matrix=True, ws=True ) )

selected_object = (cmds.ls(sl=1,sn=True))[0]

print ( get_world_transform( selected_object ) )