Question #194186 on Yade changed:
https://answers.launchpad.net/yade/+question/194186
Status: Open => Solved
Christian Jakob confirmed that the question is solved:
Found out, that
b = O.bodies[clump_id]
id_member1 = b.shape.members.keys()[0]
position_member1 = b.shape.members[id_member1][0]
orientation_member1 = b.shape.members[id_member1][1]
will do what I want.
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