The KIT Whole-Body Human Motion Database is a large-scale dataset of whole-body human motion with methods and tools, which allows a unifying representation of captured human motion, and efficient search in the database, as well as the transfer of subject-specific motions to robots with different embodiments. Captured subject-specific motion is normalized regarding the subject’s height and weight by using a reference kinematics and dynamics model of the human body, the master motor map (MMM). In contrast with previous approaches and human motion databases, the motion data in this database consider not only the motions of the human subject but the position and motion of objects with which the subject is interacting as well. In addition to the description of the MMM reference model, See the paper for procedures and techniques used for the systematic recording, labeling, and organization of human motion capture data, object motions as well as the subject–object relations.