Preliminary dataset for the experiments on sensory enhancement on the simulated iCub humanoid robot. Data collection was performed during random babbling behaviours of the left arm (and left hand) of the robot. Three datasets are availabe: 1- in the first one, the simulation included a robot alone in the scene, babbling its hand, and 9 objects displaying AruCo fiducial markers in front of the robot. 2- In the second dataset, the robot is babbling while little coloured balls fall from the sky at random positions. The scene includes the fiducial markers as in scenario 1. 3- In the third dataset, the robot is not moving and is staring at the 9 objects, while balls fall from the sky 4- The fourth dataset is similar to the second one, but more falling objects are present and they appear more frequently (every second, instead of every 20 seconds as in the second dataset) Accompanying code can be found here: https://github.com/guidoschillaci/icub_perceptual_optimisation