{
    "robot to human handover outcomes":
    [
        "success",
        "no approach",
        "no grasp",
        "drop"
    ],
    "human to robot handover outcomes":
    [
        "success",
        "no approach",
        "no release",
        "drop"
    ],
    "human action classes":
    [
        "idle",
        "approach",
        "interact",
        "retract",
        "post-idle",
        "not released",
        "dropped"
    ],
    "robot action classes":
    [
        "idle",
        "approach",
        "interact",
        "retract",
        "post-idle"
    ]
}