Para sacar dichos listados:

 root@bbdd-lab:~# mysql -u root -p moodle_lab -e "
   SELECT mdl_user.id,
          mdl_user.lastname,
          mdl_user.firstname,
          mdl_user.idnumber    
   FROM mdl_course 
      INNER JOIN mdl_context 
         ON mdl_context.instanceid = mdl_course.id 
      INNER JOIN mdl_role_assignments 
         ON mdl_context.id = mdl_role_assignments.contextid 
      INNER JOIN mdl_role 
         ON mdl_role.id = mdl_role_assignments.roleid 
      INNER JOIN mdl_user 
         ON mdl_user.id = mdl_role_assignments.userid 
   WHERE mdl_role.id = 5 and mdl_course.id=81 
      INTO OUTFILE '/tmp/Lista-RDOR.txt' FIELDS TERMINATED BY ',';"

Sustituyendo mdl_course.id=81 por el ID correspondiente en cada caso.