def pick_and_place(self, objecttype, receptacletype):
    # First, ensure the agent is not holding anything
    if self.holding is not None:
        # If the agent is already holding something, we need to put it down first
        # Find a suitable receptacle to place the currently held object
        current_object_type = self.name2type(self.holding)
        suitable_receptacles = self.find_canbe_contained(current_object_type)
        if suitable_receptacles:
            for r_type in suitable_receptacles:
                r_entitys = self.find_receptacles(r_type)
                if r_entitys:
                    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)
                        break
                    break
        else:
            # If no suitable receptacle is found, explore the environment
            self.explore()
            return

    # Now, attempt to pick up the object of the given type
    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
        else:
            # Iterate through receptacle types and check if the object is inside
            for r_type in r_types:
                r_entitys = self.find_receptacles(r_type)
                if r_entitys is None:
                    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, return for 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, place the object into the specified receptacle type
    if self.holding is not None and self.name2type(self.holding) == self.name2type(objecttype):
        r_entitys = self.find_receptacles(receptacletype)
        if r_entitys:
            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)
                break
        else:
            # If no receptacle of the specified type is found, explore the environment
            self.explore()
            return