The HiPHI dataset contains 617.5 hours of motion capture, including 245.7 hours of human-object interaction.
The recordings have sub-millimeter accuracy.
Source: content.knowledgehub.wiley.com, reported 10-07. https://content.knowledgehub.wiley.com/hiphi-a-large-scale-benchmark-for-high-precision-human-motion-and-object-interaction/