def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Find the object with the given objecttype
    entity = self.find_object(objecttype)
    
    if entity is None:
        # If the object is not found, explore the environment to find new entities
        self.explore()
        return  # Return to allow the agent to make the next decision after exploration
    
    # Step 2: Go to the receptacle where the object is located
    self.goto(entity.in_on)
    r_entity = self.seen_entitys[entity.in_on]
    
    # Step 3: Open the receptacle if it is openable and not already open
    if r_entity.openable and not r_entity.isopen:
        self.open_receptacle(r_entity.name)
        return  # Return to allow the agent to make the next decision after opening the receptacle
    
    # Step 4: Take the object from the receptacle
    self.take(entity.name, entity.in_on)
    return  # Return to allow the agent to make the next decision after taking the object

    # Step 5: Find the target receptacle with the given receptacletype
    target_receptacle = self.find_receptacle(receptacletype)
    
    if target_receptacle is None:
        # If the target receptacle is not found, explore the environment to find new entities
        self.explore()
        return  # Return to allow the agent to make the next decision after exploration
    
    # Step 6: Go to the target receptacle
    self.goto(target_receptacle.name)
    
    # Step 7: Open the target receptacle if it is openable and not already open
    if target_receptacle.openable and not target_receptacle.isopen:
        self.open_receptacle(target_receptacle.name)
        return  # Return to allow the agent to make the next decision after opening the target receptacle
    
    # Step 8: Put the object in the target receptacle
    self.put(entity.name, target_receptacle.name)