----------------- NEW EXPERIMENT ----------------
30021
00002
00000
00000
00000
  (Left)
30201
00002
00000
00000
00000
  (Down)
30210
00000
00002
00000
00000
  (Down)
30010
00200
00002
00000
00000
  (Down)
30100
00000
00202
00000
00000
  (Left)
31000
00000
00220
00000
00000
Reached Goal, took 5 steps