the
robot
left 
right
turns
front
backward
drives
obstacle
is
of
in
to
goal

the robot drives to the goal
the goal is to the left of the robot
the robot is right of the obstacle
the obstacle is to the left of the robot
the robot turns left
the robot turns right
the obstacle is in front
the robot drives to the left of the obstacle to the goal
the robot is to the right of the obstacle
the goal is in front of the robot
the robot turns left to the goal
the robot turns right to the obstacle
the obstacle is in front of the robot
the goal is to the right of the robot
the robot is to the left of the obstacle
the robot drives to the right
the robot drives to the front
the robot drives backward
the robot drives in front of the goal
the obstacle is in front of the goal
the goal is left of the obstacle
the robot drives in front
the robot turns left to the goal
the robot turns right in front of the obstacle
the robot is in front of the goal
the robot turns left in front of the obstacle
the robot drives to the left
the obstacle is to the right of the goal
the goal is to the left of the robot
the goal is to the right
the obstacle is to the left of the robot
the obstacle is in front
the robot turns to the right
the goal is in front of the obstacle
the robot turns to the left at the goal
the goal is on the right
the obstacle is to the right of the goal
the goal is to the left of the robot
the goal is to the right of the obstacle
the robot drives to the right
the obstacle is to the right of the robot
the robot turns to the left of the goal
the left obstacle is to the right of the robot
the right obstacle is in front of the goal
the robot is in front of the right obstacle
the goal is to the left
the goal is in front of the left obstacle 
the robot turns to the right obstacle
the robot drives to the left of the right obstacle to the goal
the left obstacle is in front of the robot
the right obstacle is to the left of the robot
the robot turns to the right of the left obstacle
the goal is to the left of the robot
the robot turns to the right obstacle