I created an apple picker consisting of a long wooden stick with a hinge at the end. The gripping jaws are the printed parts. These are half balls with a mounting lug that one can attach to the stick using the preprinted screw holes. The ball has a lot of holes in it to see through and to save material. Look at the pictures how the mechanism is made. I simply pull a rope at the other hand to close the jaws and grasp my apples.
I used a stick that measures 13x29mm.
Obviously you need to print this part twice.