def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Pick up the object of the given objecttype
    if self.name2type(self.holding) != self.name2type(objecttype):
        # Find the object
        entity = self.find_object(objecttype)
        if entity is None:
            # If the object is not found, find receptacle types that can contain the object
            r_types = self.find_canbe_contained(objecttype)
            if r_types is None:
                # If no receptacle types are found, explore the environment
                self.explore()
                return  # Return to allow for further decision-making after exploration
            else:
                # Iterate through receptacle types to find the object
                for r_type in r_types:
                    r_entitys = self.find_receptacles(r_type)
                    if r_entitys is None:
                        continue  # Skip if no receptacles of this type are found
                    for r_entity in r_entitys:
                        # Go to the receptacle
                        self.goto(r_entity.name)
                        if r_entity.openable and not r_entity.isopen:
                            # Open the receptacle if it's closed
                            self.open_receptacle(r_entity.name)
                            return  # Return to allow for further decision-making after opening
        else:
            # If the object is found, go to its receptacle and take it
            self.goto(entity.in_on)
            r_entity = self.seen_entitys[entity.in_on]
            if r_entity.openable and not r_entity.isopen:
                # Open the receptacle if it's closed
                self.open_receptacle(r_entity.name)
            self.take(entity.name, entity.in_on)
            return  # Return to allow for further decision-making after taking the object

    # Step 2: Place the object into the receptacle of the given receptacletype
    if self.holding is not None and self.name2type(self.holding) == self.name2type(objecttype):
        # Find the receptacle
        receptacle = self.find_receptacle(receptacletype)
        if receptacle is None:
            # If the receptacle is not found, explore the environment
            self.explore()
            return  # Return to allow for further decision-making after exploration
        else:
            # Go to the receptacle
            self.goto(receptacle.name)
            if receptacle.openable and not receptacle.isopen:
                # Open the receptacle if it's closed
                self.open_receptacle(receptacle.name)
            # Place the object into the receptacle
            self.put(self.holding, receptacle.name)
            return  # Return to allow for further decision-making after placing the object