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  # Return to allow the next decision-making cycle

    # Step 2: Navigate to the object's receptacle
    self.goto(entity.in_on)
    r_entity = self.seen_entitys[entity.in_on]

    # Step 3: Open the receptacle if necessary
    if r_entity.openable and not r_entity.isopen:
        self.open_receptacle(r_entity.name)
        return  # Return to allow the next decision-making cycle

    # Step 4: Take the object
    if self.name2type(self.holding)!= self.name2type(objecttype):
        self.take(entity.name, entity.in_on)
        return  # Return to allow the next decision-making cycle

    # Step 5: Find the destination receptacle
    dest_receptacle = self.find_receptacle(receptacletype)
    if dest_receptacle is None:
        # If the destination receptacle is not found, explore the environment
        self.explore()
        return  # Return to allow the next decision-making cycle

    # Step 6: Navigate to the destination receptacle
    self.goto(dest_receptacle.name)

    # Step 7: Open the destination receptacle if necessary
    if dest_receptacle.openable and not dest_receptacle.isopen:
        self.open_receptacle(dest_receptacle.name)
        return  # Return to allow the next decision-making cycle

    # Step 8: Place the object
    self.put(self.holding, dest_receptacle.name)