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 agent to make the next decision

    # Step 2: Find the receptacle
    r_entity = self.find_receptacle(receptacletype)
    if r_entity is None:
        # If the receptacle is not found, explore the environment
        self.explore()
        return  # Return to allow the agent to make the next decision

    # Step 3: Interact with the receptacle
    if r_entity.openable and not r_entity.isopen:
        self.goto(r_entity.name)
        self.open_receptacle(r_entity.name)
        return  # Return to allow the agent to make the next decision

    # Step 4: Take the object
    self.goto(entity.in_on)
    if entity.in_on.openable and not entity.in_on.isopen:
        self.open_receptacle(entity.in_on.name)
    self.take(entity.name, entity.in_on)
    return  # Return to allow the agent to make the next decision

    # Step 5: Place the object
    self.put(entity.name, r_entity.name)