text: IN: walk opposite right thrice after run around left OUT: I_TURN_LEFT I_RUN I_TURN_LEFT I_RUN I_TURN_LEFT I_RUN I_TURN_LEFT I_RUN I_TURN_RIGHT I_TURN_RIGHT I_WALK I_TURN_RIGHT I_TURN_RIGHT I_WALK I_TURN_RIGHT I_TURN_RIGHT I_WALK