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How can I extract a 3d occupancy map from Gazebo without using the robot sensors?

I am trying to extract an 3d occupancy map from a Gazebo world in order to use it to apply a path planning algorithm, but I do not want to extract this map using the robot sensors, and all the methods I found to do so require the use of the sensors. Is there a method which can extract this map directly from the Gazebo world?