Gazebo garden topic for coordinates (x,y,z) of objects in simulation

I added hanging load from the drone and I need to create topic, that will publish data about coordinates of my load object. Currently I am using imu sensor, that is generating imu topic, but it is based on defined plugin. I unfortunately did not manage to find any sensor with plugin, that will help me with sending coordinates.
Do you have any idea?

Thank you!

I would also like to know how to get the state data of the loads in the simulation, do you have any good ideas now?