walk opposite left thrice after turn around right twice
I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_RIGHT I_TURN_LEFT I_TURN_LEFT I_WALK I_TURN_LEFT I_TURN_LEFT I_WALK I_TURN_LEFT I_TURN_LEFT I_WALK