It’s a bit late, so perhaps you already found a way to do this. I’m leaving this here in case someone else finds it helpful. Also, perhaps not the most elegant method, but I could not find anything else.
boundary_nodes = []
for e in mesh.Elements(BND):
if e.mat == "left":
for v in e.vertices:
boundary_nodes.append(mesh[v].point)
boundary_nodes = set(boundary_nodes)