I assume you are looking for the storage ID of the entire baked model?
In that case, you can use the Scene API to find the child with the bakedModelUrl
which is the storage ID of the model:
// this is the modelResourceId from the URL you gave in your question
io3d.scene.getStructure('cd36dc78-a124-4a4e-9990-35be32415f84')
// we select the children
.then(scene => scene.children)
// find the child that has a bakedModelUrl
.then(children => children.find(child => child.bakedModelUrl))
// read the bakedModelUrl
.then(level => level.bakedModelUrl)
// and log it (or do whatever you need to do with it)
.then(console.log)