----------------- NEW EXPERIMENT ----------------
00000
00200
02120
00200
00000
  (Right)
00000
00200
02120
00020
00000
  (Left)
00000
00200
02120
00020
00000
  (Left)
00000
00200
02120
00200
00000
  (Left)
00000
02000
02120
00200
00000
  (Left)
00000
02000
23120
00200
00000
Reached Goal, took 5 steps