text: IN: turn opposite right thrice after turn around left twice OUT: I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_LEFT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT