1. (5 points) Belowis the set basic robotactions: pickup(x): P&D:ontable(x),clearx), handempty A: holding(x) putdown(x) P&D: holding(x) A: ontable(x), clear(x), handempty stack(x, y): P&D: holding(x), cleary) A: handempty, on(x,y), clear(x) unstack(x, y P&D: handempty, clearx),onxy) A holding(x), clear(y) a) Define how the two STRIPS rules, pickup(x)andstack(x,y) could be combined into a macro-rule 'put(x,y)'. Whatare the preconditions, delete list, and addlist of the newrule? b) 1. (5 points) Belowis the set basic robotactions: pickup(x): P&D:ontable(x),clearx), handempty A: holding(x) putdown(x) P&D: holding(x) A: ontable(x), clear(x), handempty stack(x, y): P&D: holding(x), cleary) A: handempty, on(x,y), clear(x) unstack(x, y P&D: handempty, clearx),onxy) A holding(x), clear(y) a) Define how the two STRIPS rules, pickup(x)andstack(x,y) could be combined into a macro-rule 'put(x,y)'. Whatare the preconditions, delete list, and addlist of the newrule? b)