Task planning in robotics

Suppose we have a robot in a simple world like the one below. Let's consider commanding our robot to perform a task such as "take the apple from the shelf and put it on the table". Simple task planning example world: A robot can move between a finite set of locations, and can pick and place objects at those locations. I would argue we humans have pretty good intuition for how a robot could achieve this task. We could describe what the robot should do by breaking the solution down into individual actions.