grid_size=20,20
11111111111111111111
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10011111111111111001
10000000000000000001
10011111111111111001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
10000000010000000001
11111111111111111111
num_robots=2
robot:1,1,r
robot:1,18,g
num_goals=2
goal:18,18,r
goal:18,1,g