def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Check if the agent is already holding the desired object
    if self.name2type(self.holding) == self.name2type(objecttype):
        # The agent is already holding the object, so we can proceed to placing it
        pass
    else:
        # Step 2: Find the object
        entity = self.find_object(objecttype)
        if entity is None:
            # Step 3: Explore the environment to find the object
            self.explore()
            return  # After explore, maybe I will find new entity in env, so return for the next decision-making
        else:
            # Step 4: Go to the object's receptacle
            self.goto(entity.in_on)
            r_entity = self.seen_entitys[entity.in_on]
            if r_entity.openable and not r_entity.isopen:
                # Step 5: Open the receptacle if necessary
                self.open_receptacle(r_entity.name)
            # Step 6: Take the object
            self.take(entity.name, entity.in_on)
            return  # After taking the object, return for the next decision-making

    # Step 7: Find the desired receptacle
    desired_receptacle = self.find_receptacle(receptacletype)
    if desired_receptacle is None:
        # If the desired receptacle is not found, explore the environment
        self.explore()
        return  # After explore, maybe I will find new entity in env, so return for the next decision-making
    else:
        # Step 8: Go to the desired receptacle
        self.goto(desired_receptacle.name)
        if desired_receptacle.openable and not desired_receptacle.isopen:
            # Step 9: Open the desired receptacle if necessary
            self.open_receptacle(desired_receptacle.name)
        # Step 10: Put the object
        self.put(self.holding, desired_receptacle.name)