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. CommandsIn 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 wallAssumptionsYou 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 solutionYour 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 solutionYour 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