Load Urls

loadAllUrls.php

<?php
require_once 'abstract.php';

class Mage_Shell_Load_Urls extends Mage_Shell_Abstract
{
    private $_baseUrl;
    private $_urls = array();
    public function run()
    {
        $storeId = 1;
        $this->_baseUrl = Mage::app()->getStore($storeId)->getBaseUrl(Mage_Core_Model_Store::URL_TYPE_LINK);
        $this->_urls[] = $this->_baseUrl;
        //load category urls
        $collection = Mage::getResourceSingleton('sitemap/catalog_category')->getCollection($storeId);
        $this->loadUrls($collection);
        unset($collection);

       //load product urls
        $collection = Mage::getResourceModel('sitemap/catalog_product')->getCollection($storeId);
        $this->loadUrls($collection);
        unset($collection);

        // get cms pages urls
        $collection = Mage::getResourceModel('sitemap/cms_page')->getCollection($storeId);
        $this->loadUrls($collection);
        unset($collection);

        print_r($this->_urls);
    }

    private function loadUrls($collection)
    {
        foreach ($collection as $item)
        {
            $this->_urls[] = $this->_baseUrl . $item->getUrl();
        }
    }

}

$shell = new Mage_Shell_Load_Urls();
$shell->run();