Frankly, seeing a Festo robotic hand hold a red ball, then an apple, and claiming it's just a « specialization » ignores the huge asymmetry between these two tasks to achieve maximum performance.
A ball is a perfect, rigid object; an apple has unexpected break points, a thin skin, and shape variations.
The true demonstration of dexterity would be to pick a fruit from a tree without damaging it, or to sort fruits efficiently and quickly on a conveyor, not just holding it.
This requires pressure sensors that adapt to the slightest defect, the ability to manage imperfection in reality, which holding a ball does not prepare for at all.
For a real productivity gain, a system that manages the uncertainty of each fruit, like an experienced farm worker, is needed.