Is a 'comma' before 'such as' needed?

I have searched the Internet and know about using or not using commas before ‘such as’. If the phrase is nonrestrictive, then a comma is needed otherwise not. However, at certain times I am still confused.

Please see the following sentences – I would like to know if a comma is needed before ‘such as’ in the following two sentences. Can the intent of the writer also decide whether a comma is needed before ‘such as’? What if in the first sentence, I specifically want to refer to ‘dogmas’, ‘doctrines’ and ‘beliefs’? Do I still need to use a comma before ‘such as’?

1. Humanity has been enslaved by man-made concepts such as dogmas, doctrines, theories and beliefs.

2. The big basket contained a wide variety of fruits such as mangoes, bananas, apples and grapes.