The problem with picking fruit is that they are typically irregularly-shaped, positioned pretty randomly in any given tree, and a bit on the squishy side. These are problem areas where machines aren't ideal. Same with homes. They're designed for human bodies that tend to have a certain level of instinctual knowledge of how to move and so on. That's why it's been tricky to build a fully-mobile robot: some of the stuff we do comes instinctively so we don't know HOW we do it.