Drupal 6 menu for Foundation off canvas

I need to prepare a Drupal 6 menu (primary links) for using as a Foundation off canvas menu.

I need to get the off-canvas-list class in UL tag and the wrapping DIVs (block-menu… and content) removed.

Did someone get this done?

Drupal version: 

Source: https://www.drupal.org/taxonomy/term/3/feed