Think: Bob is closest to green_cube_2, and Alice is at a reasonable distance to move to it as well. Let's start with green_cube_2 since it's a target cube and both robots can reach it quickly. Alice will MOVE to green_cube_2 and Bob will also MOVE to green_cube_2 to prepare for sweeping.

Action: EXECUTE
NAME Alice ACTION MOVE green_cube_2
NAME Bob ACTION MOVE green_cube_2

Think: Now that Alice and Bob are both in front of green_cube_2, Bob can SWEEP the green_cube_2 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP green_cube_2

Think: With green_cube_2 now in the dustpan, the next closest target cube for both Alice and Bob is yellow_cube_2. They should both MOVE to yellow_cube_2 to prepare for the next sweep.

Action: EXECUTE
NAME Alice ACTION MOVE yellow_cube_2
NAME Bob ACTION MOVE yellow_cube_2

Think: Now that Alice and Bob are both in front of yellow_cube_2, Bob can SWEEP the yellow_cube_2 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP yellow_cube_2

Think: With two cubes in the dustpan, Alice should DUMP them into the trash bin while Bob WAITS.

Action: EXECUTE
NAME Alice ACTION DUMP
NAME Bob ACTION WAIT

Think: Now that the dustpan is empty, the closest target cube for both Alice and Bob is yellow_cube_3. They should both MOVE to yellow_cube_3 to prepare for the next sweep.

Action: EXECUTE
NAME Alice ACTION MOVE yellow_cube_3
NAME Bob ACTION MOVE yellow_cube_3

Think: Now that Alice and Bob are both in front of yellow_cube_3, Bob can SWEEP the yellow_cube_3 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP yellow_cube_3

Think: With yellow_cube_3 now in the dustpan, the next closest target cube for both Alice and Bob is green_cube_1. They should both MOVE to green_cube_1 to prepare for the next sweep.

Action: EXECUTE
NAME Alice ACTION MOVE green_cube_1
NAME Bob ACTION MOVE green_cube_1

Think: Now that Alice and Bob are both in front of green_cube_1, Bob can SWEEP the green_cube_1 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP green_cube_1

Think: With two cubes in the dustpan, Alice should DUMP them into the trash bin while Bob WAITS.

Action: EXECUTE
NAME Alice ACTION DUMP
NAME Bob ACTION WAIT

Think: The closest target cube for both Alice and Bob is green_cube_3. They should both MOVE to green_cube_3 to prepare for the next sweep.

Action: EXECUTE
NAME Alice ACTION MOVE green_cube_3
NAME Bob ACTION MOVE green_cube_3

Think: Now that Alice and Bob are both in front of green_cube_3, Bob can SWEEP the green_cube_3 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP green_cube_3

Think: With green_cube_3 now in the dustpan, the next closest target cube for both Alice and Bob is yellow_cube_1. They should both MOVE to yellow_cube_1 to prepare for the next sweep.

Action: EXECUTE
NAME Alice ACTION MOVE yellow_cube_1
NAME Bob ACTION MOVE yellow_cube_1

Think: Now that Alice and Bob are both in front of yellow_cube_1, Bob can SWEEP the yellow_cube_1 into Alice's dustpan while Alice WAITS.

Action: EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION SWEEP yellow_cube_1

Think: With two cubes in the dustpan, Alice should DUMP them into the trash bin while Bob WAITS.

Action: EXECUTE
NAME Alice ACTION DUMP
NAME Bob ACTION WAIT