STRIPS planning problem. Assume Shakey's world is specified as in the figure below. The actions in Shakey's world include moving from place to place, and pushing movable objects: - Go (x,y), which requires that Shakey be at x and that x and y are locations in the same room. By convention a door between two rooms is in both of them. The door can be treated as a location. - Push (b,x,y), push a box b from a location x to a location y within the same room. Other predicates you may need to use: - At (x,y): an object x is at location y. - ln(p,r): a location p is in room r. - Pushable(b): b is pushable. You can assume that: - Box1 is pushable. - Door1 is in Room1 and also in Corridor. The same thing applies to Door2 and Door3. Constants: Shakey, Box1, Room1, Room2, Room3, Corridor, Door1, Door2, Door3, P_s (Shakey's init. position), P_b1 (box1's position), P_g (box1's goal position in Room1). To do: 1. Describe Shakey's actions (define each action's precondition and effects). 2. Describe the initial state in STRIPS notation. 3. Construct a plan for Shakey to get Box1 into Room1 at location Pg. Just show the series of action without precondition and effects