Scenario: A robot is sitting in a chair with its arms facing down. Write an algorithm, using pseudocode, to make the robot:
1. stand up2. walk forward until it senses a wall3. turn around4. walk back to the chair5. sit down in its original starting positionFinally, output the total number of steps taken.Commands--------In addition to our standard pseudocode commands, you must also use the following robot control commands:sitstandstep (one step forward)raise arms (parallel to floor)lower arms (pointing to floor)sense (only if arms are raised)turn (90 degrees right)Immediately after issuing a sense command, you can check whether the robot is at the wall as follows:if at wallor alternativelyif not at wallAssumptions-----------You must assume the following facts:The robot's initial sitting position is directly facing the target wall.There are no obstacles between the robot and the wall.The wall is 1 or more exact steps from the chair.The wall is sensed when it is less than 1 step from the robot's arms.The length of the robot's arms are slightly less than the length of 1 step.Your solution-------------Your solution must include all of the following:Adequate commentsInitialization and use of at least one variableSequential flow of controlConditional flow of controlIterative flow of controlHandling of any special casesOutput of the total number of steps takenYour solution-------------Your solution must include all of the following:Adequate commentsInitialization and use of at least one variableSequential flow of controlConditional flow of controlIterative flow of controlHandling of any special casesOutput of the total number of steps taken