def pick_and_place(self, objecttype, receptacletype):
    # Check if the agent is already holding an object of the given type
    if self.name2type(self.holding) == self.name2type(objecttype):
        # The agent is already holding the object, so we need to find a receptacle of the given type
        receptacle = self.find_receptacle(receptacletype)
        if receptacle is None:
            # If no receptacle of the given type is found, explore the environment
            self.explore()
            return  # After exploring, maybe new entities will be found, so return for the next decision-making
        else:
            # Go to the receptacle and place the object
            self.goto(receptacle.name)
            self.put(self.holding, receptacle.name)
            return  # After placing the object, return for the next decision-making
    else:
        # The agent is not holding the object, so we need to find and pick it up
        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 no receptacle types are found, explore the environment
                self.explore()
                return  # After exploring, maybe new entities will be found, so 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 no receptacle of the type is found, continue to the next 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, maybe new entities will be found, so 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)
            # Now the agent is holding the object, so we need to find a receptacle of the given type
            receptacle = self.find_receptacle(receptacletype)
            if receptacle is None:
                # If no receptacle of the given type is found, explore the environment
                self.explore()
                return  # After exploring, maybe new entities will be found, so return for the next decision-making
            else:
                # Go to the receptacle and place the object
                self.goto(receptacle.name)
                self.put(self.holding, receptacle.name)
                return  # After placing the object, return for the next decision-making