def pick_and_place(self, objecttype, receptacletype):
    # Check if the agent is already holding the object of the specified type
    if self.name2type(self.holding) == self.name2type(objecttype):
        # If the agent is already holding the object, find a receptacle of the specified type to place it in
        r_entitys = self.find_receptacles(receptacletype)
        if r_entitys is None:
            # If no receptacle of the specified type is found, explore the environment
            self.explore()
            return  # After exploration, return for the next decision-making
        else:
            # If a receptacle is found, place the object in it
            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)
                self.put(self.holding, r_entity.name)
                return  # After placing the object, return for the next decision-making
    else:
        # If the agent is not holding the object, find and pick it up first
        entity = self.find_object(objecttype)
        if entity is None:
            # If the object is not found, determine the receptacle types that can contain the object
            r_types = self.find_canbe_contained(objecttype)
            if r_types is None:
                # If no receptacle types are found, explore the environment
                self.explore()
                return  # After exploration, return for the next decision-making
            else:
                # If receptacle types are found, check each receptacle for the object
                for r_type in r_types:
                    r_entitys = self.find_receptacles(r_type)
                    if r_entitys is None:
                        continue  # If no receptacle is found, continue to the next type
                    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)
            # After taking the object, find a receptacle of the specified type to place it in
            r_entitys = self.find_receptacles(receptacletype)
            if r_entitys is None:
                self.explore()
                return  # After exploration, return for the next decision-making
            else:
                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)
                    self.put(self.holding, r_entity.name)
                    return  # After placing the object, return for the next decision-making