----------------- NEW EXPERIMENT ----------------{(1, 2), (2, 2)}
30000
00200
02120
00200
00000
  (Left)
30000
02000
02120
00200
00000
  (Stay)
30000
02100
02020
00200
00000
  (Stay)
30100
02000
02020
00200
00000
  (Left)
31000
20000
02020
00200
00000
Reached Goal, took 4 steps