How to access object semantics?

[nimafo]

Hi,

I've want to access the HM3D Semantics dataset and make a histogram of object bounding box sizes for each semantic in each model, but I have issues accessing the objects' semantics.
I started with the example dataset (id 00861-GLAQ4DNUx5U), but could not understand the correspondence between the geometries (count = 207) and semantics ( count = 907). I've tried to load GLAQ4DNUx5U.semantic.glb with habitat-sim and with trimesh and blender.

Do you have a clue how I might be able to solve it?