Tracking a single particle in blender

I am new to blender and I have a complex geometry containing a packed bed reactor filled with cylindrical particles. I would like to obtain positions and orientations of each particle using python scripting. Please help me.

Please use one of the community sites for questions like this, see the header of this page for more info. As a tip, a partial answer to your question can be found here already, look at the accepted answer and study the last few lines of the code provided.