----------------- NEW EXPERIMENT ----------------
30000
00200
02120
00200
00000
  (Right)
30000
00200
02102
00200
00000
  (Left)
30000
00200
20102
00200
00000
  (Right)
30000
00020
21002
00200
00000
  (Down)
30000
01020
20002
00000
00200
  (Down)
30000
10020
20002
00000
00200
Reached Goal, took 5 steps