Let block A be the red block without the yellow block, B be the red block with the yellow block, and C be the yellow block. Then a solution is:

A: N-WWW-S-E-NN-WWW-N-E-N
C: E
B: SS-EE-S-EE-NNN-WW
C: E
A: SSS-WW-EE-NN C: E B: W-SSS-EEE-S-WW-N-E-S-W-NN
C: S
A: WW-SS-E-N-E
C: S
B: E-N-WWW-SS-EE
C: S
A: WW-SS-EEE-N-W
C: S
B: E-SS-W
C: S
A: NN-E-N-WWW-SS-E-N-E-S-E-S
C: E
B: N-EE-S
C: E