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The publisher regrets the error in the previously published highlights. Highlights for this paper should be as follows: • A method for estimating the angle between the plant stem and fruit is presented.• Colour image segmentation of plant parts is performed by deep learning.• Segmentations are used to localize plant part centres.• A geometric model estimates angles between plant parts.• The angles support grasp pose optimisation in a sweet-pepper harvesting robot.The publisher would like to apologise for any inconvenience caused.