This dataset contains the reference trajectoires for the humanoid robot iCub, teleoperated by a human operator. The operator controlled the robot while performing different tasks: reaching a low/mid-height target with the right hand, reaching a high target with the right hand, picking up a box located at different locations and placing the box at different locations. The operator's whole-body kinematics was recorded with inertial motion capture systems and retargeted on the robot. All data files are in csv format. Training and test data were used to learn movement primitives for the whole-body trajectories and were acquired when teleoperating the robot in a local network with ideally no delay. A detailed description of how the data were collected and/or generated is available in the paper associated with the dataset: "Prescient teleoperation of humanoid robots" (Penco et al., hal preprint) https://hal.archives-ouvertes.fr/hal-?/document