PVC pipe works A Tee and 2 elbows I like 1" heavy walled pvc put tee on end then cut short pieces stick then into tee on end short piece put elbows then cut 2 foot pieces stick into elbows that make guide to stay on limb. You pad inside U as you think needed duct tape be my choice. You cut female end off with length pipe on female end so make for different heights. bang limb about half way give good shaken. I'd use blue tarps to let fruit fall onto 2 small as you find should work for half tree.

Or search fruit picking pole and make a homebrew version of one of those or buy one.

Scott

PS Look at the Youtube below for another simple homebrew picker.. all you need is a longer pole.

Here is a link that might be useful: Simple pole picker

Or cut down whole branches with ripe fruit on them to kill two birds with one stone.

I pick with ladder.

"Or cut down whole branches with ripe fruit on them to kill two birds with one stone."

I do that with my wild grapes. I back my pickup up and fill the whole back end up with grapes. That is the only time they ever get pruned and it seems to work great.