with_scene_update.py

import bpy

# running_check = {}

def pack_frame_info(idx):
   
    f = bpy.context.scene.frame_current
    dp_str = []
    dp_str.append(str(f))
    for obj in bpy.data.objects:
        
        if not (tuple(True if i==idx else False for i in range(20)) == obj.layers[:]):
            continue
           
        mat = obj.matrix_world
        loc = mat.to_translation()
        rot = mat.to_3x3().to_quaternion()
        scale = obj.dimensions
        
        apt = {
            'obj': obj.name,
            'qtX': round(rot.x,3),
            'qtY': round(rot.y,3),
            'qtZ': round(rot.z,3),
            'qtW': round(rot.w,3),
            'loX': round(loc.x,3),
            'loY': round(loc.y,3),
            'loZ': round(loc.z,3),
            'scX': round(scale.x,3),
            'scY': round(scale.y,3),
            'scZ': round(scale.z,3)
        }

        j = '{obj} {loX} {loY} {loZ} {qtX} {qtY} {qtZ} {qtW} {scX} {scY} {scZ}'.format(**apt)

#         stored_values = running_check.get(obj.name)
#         if not stored_values:
#             running_check[obj.name] = j
#         else:
#             if (stored_values == j):
#                 # means it was the same, and can be skipped.
#                 continue
#             else:
#                 # means we proceed to adding this to the output, and store it for next
#                 # iteration.
#                 running_check[obj.name] = j
# 
        dp_str.append(j)
    return ','.join(dp_str)

def RunPerFrame(scene):
    scene.update()
    k = pack_frame_info(0)
    print(k)    


bpy.app.handlers.frame_change_pre.append(RunPerFrame)