I use the built-in model dumper that's present in older versions of PCSX2, in my case version 0.9.8. The models come out skewed but can be readjusted with Blender although you'll want the game in freecam mode with it at a distance to get the full object. I've also used it to get models of the levels but it'll be a huge effort to get them close to how they're supposed to look and with the textures assigned.