def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Find the object
    entity = self.find_object(objecttype)
    
    if entity is None:
        # If the object is not found, explore the environment
        self.explore()
        return  # After exploring, return for the next decision-making
    
    # Step 2: Pick the object
    if self.holding is None:
        # Go to the receptacle where the object is located
        self.goto(entity.in_on)
        
        # Open the receptacle if it is closed
        r_entity = self.seen_entitys[entity.in_on]
        if r_entity.openable and not r_entity.isopen:
            self.open_receptacle(r_entity.name)
            return  # After opening the receptacle, return for the next decision-making
        
        # Take the object
        self.take(entity.name, entity.in_on)
    
    # Step 3: Find the receptacle
    receptacle = self.find_receptacle(receptacletype)
    
    if receptacle is None:
        # If the receptacle is not found, explore the environment
        self.explore()
        return  # After exploring, return for the next decision-making
    
    # Step 4: Place the object in the receptacle
    if self.holding is not None:
        # Go to the receptacle
        self.goto(receptacle.name)
        
        # Open the receptacle if it is closed
        if receptacle.openable and not receptacle.isopen:
            self.open_receptacle(receptacle.name)
            return  # After opening the receptacle, return for the next decision-making
        
        # Place the object in the receptacle
        self.put(self.holding, receptacle.name)