I used light-weight and fairly thin-walled 2 inch diameter PVC pipe to make this picker. You can just cut the fingers into the end of a 10 ft. long piece of pipe, or make the picker head independently, with a socket in the end for inserting a separate pole. That gives you some extra length. In this picker I made the head separately.
I made the saw cuts with a back saw from a miter box, my favorite saw for making straight cuts.
The somewhat conical Styrofoam plug fits between the fingers to spread them apart.