def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Find the object
    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 we can't find the receptacle types, explore the environment
                self.explore()
                return  # After exploring, return for the next decision-making
            else:
                # For each receptacle type, check if the object is inside
                for r_type in r_types:
                    r_entitys = self.find_receptacles(r_type)
                    if r_entitys is None:
                        # If the receptacle is not found, continue to the next receptacle type
                        continue
                    for r_entity in r_entitys:
                        self.goto(r_entity.name)
                        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
        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:
                self.open_receptacle(r_entity.name)
            self.take(entity.name, entity.in_on)
            return  # After taking the object, return for the next decision-making
    
    # Step 2: Find the receptacle
    r_entity = self.find_receptacle(receptacletype)
    if r_entity is None:
        # If the receptacle is not found, find receptacle types that match the given type
        r_types = [receptacletype]
        for r_type in r_types:
            r_entitys = self.find_receptacles(r_type)
            if r_entitys is None:
                # If the receptacle is not found, explore the environment
                self.explore()
                return  # After exploring, return for the next decision-making
            for r_entity in r_entitys:
                self.goto(r_entity.name)
                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
    else:
        # If the receptacle is found, go to it
        self.goto(r_entity.name)
        if r_entity.openable and not r_entity.isopen:
            self.open_receptacle(r_entity.name)
    
    # Step 3: Place the object in the receptacle
    self.put(self.holding, r_entity.name)