This video shows robotic harvesting of sweet-pepper fruits in a commercial Dutch greenhouse in June 2014. Two different types of end-effectors were designed and tested, this video shows the robot with the patent pending “Lip-type” end-effector. This end-effector first stabilizes the fruit using a suction cup after which two rings enclose the fruit and cut the peduncle of the fruit. The detached fruit slides through a flexible pipe to the storage container. The end-effector has a miniature RGB and a Time of Flight (ToF) camera for refining the fruit position and to determine the fruit pose.