# grid format:
#     0 = navigable space
#     1 = occupied space 
grid = [[1, 1, 1, 0, 0, 0],
        [1, 1, 1, 0, 1, 0],
        [0, 0, 0, 0, 0, 0],
        [1, 1, 1, 0, 1, 1],
        [1, 1, 1, 0, 1, 1]]
goal = [2, 0] # final position
init = [4, 3, 0] # first 2 elements are coordinates, third is direction
cost = [2, 1, 20] # the cost field has 3 values: right turn, no turn, left turn

Answer:
[' ', ' ', ' ', 'R', '#', 'R']
[' ', ' ', ' ', '#', ' ', '#']
['*', '#', '#', '#', '#', 'R']
[' ', ' ', ' ', '#', ' ', ' ']
[' ', ' ', ' ', '#', ' ', ' ']
Policies: 
orientation: up
[' ', ' ', ' ', 'R', 'R', 'L']
[' ', ' ', ' ', '#', ' ', '#']
['*', 'L', 'L', '#', 'L', 'L']
[' ', ' ', ' ', '#', ' ', ' ']
[' ', ' ', ' ', '#', ' ', ' ']
orientation: left
[' ', ' ', ' ', 'L', '#', '#']
[' ', ' ', ' ', 'R', ' ', 'L']
['*', '#', '#', '#', '#', '#']
[' ', ' ', ' ', 'R', ' ', ' ']
[' ', ' ', ' ', 'R', ' ', ' ']
orientation: down
[' ', ' ', ' ', '#', 'R', '#']
[' ', ' ', ' ', '#', ' ', '#']
['*', 'R', 'R', 'R', 'R', 'R']
[' ', ' ', ' ', ' ', ' ', ' ']
[' ', ' ', ' ', ' ', ' ', ' ']
orientation: right
[' ', ' ', ' ', 'R', '#', 'R']
[' ', ' ', ' ', 'R', ' ', 'R']
['*', '#', '#', 'L', '#', 'L']
[' ', ' ', ' ', 'L', ' ', ' ']
[' ', ' ', ' ', 'L', ' ', ' ']
The thread 'MainThread' (0x1a28) has exited with code 0 (0x0).