AirPods flashing orange light

I am trying to pair my AirPods to my iPhone but I am having trouble. They are definitely charged but when they are in the case the light is flashing amber. When I open the case and hold them by my phone, trying to pair them normally, the animation does not show up. I saw recommendations to try to pair them one at a time. When I take out one of the airpods the light is a solid green and I can pair it easily to my phone. However, then when I put the second airpod in the case the light begins to flash amber again. I left them together in the case, like many people said, for a while but the problem was not solved. Then I unpaired that AirPod and did the other one first and the same result happened.

[Re-Titled by Moderator]