planning with certainty self name name self preconds preconds self effects effects self cost cost def __repr__(self)return self name strips domain consists ofa set of actions dictionary that maps each feature into set of possible values for the feature list of the actions stripsproblem py -(continued class strips_domain(object)def __init__(selffeature_domain_dictactions)"""problem domain feature_domain_dict is feature:domain dictionarymapping each feature to its domain actions ""self feature_domain_dict feature_domain_dict self actions actions planning problem consists of planning domainan initial stateand goal the goal does not need to fully specify the final state stripsproblem py -(continued class planning_problem(object)def __init__(selfprob_domaininitial_stategoal)"" planning problem consists of planning domain the initial state goal ""self prob_domain prob_domain self initial_state initial_state self goal goal robot delivery domain the following specifies the robot delivery domain of section shown in figure version june