SELECT v1.[Name],
v1.Guid as 'ResourceGuid'
v1.[OS Name]
FROM vComputer v1
WHERE v1.Guid in (SELECT ResourceGuid FROM ScopeMembership WHERE ScopeCollectionGuid='GUID-of-the-GROUP-goes-here')
ORDER BY v1.Name
Just drop there WHERE ScopeCollectionGuid='GUID' part if you don't want to report on a specific group. I'm not a SQL expert, but give this a try.