[QUESTION] How to *obtain* the scene graph?

[manavkulshrestha]

I'm currently trying to get hydra working on my own data by publishing to the appropriate topics as per the uhumans launch file. Assuming I get this to work, how is the process for obtaining the created scene graph? When I run the rosbag example, I see the visualization, but what is the process for getting some workable representation of this scene graph so I can incorporate the rest of my pipeline?