The library includes motion capture data characterizing human and object motion as well as data for characterizing haptic interaction with the object via force and torque measurements via a load cell and inertial measurement unit (IMU) readings of the object accelerations. Objects include a box, luggage, briefcase, walker, shopping cart, wheelbarrow, and door. Data collected includes multiple types of interactions with each object, such as manipulating the object and walking while inter-acting with the object (e.g., pulling, pushing, carrying, operating, etc.).