def pick_clean_then_place(self, objecttype, receptacletype):
    # Check if the agent is already holding the desired object
    if self.name2type(self.holding) != self.name2type(objecttype):
        # Find the object
        entity = self.find_object(objecttype)
        if entity is None:
            # If the object is not found, explore the environment
            self.explore()
            return
        else:
            # Go to the object's 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)
    else:
        # Clean the object at a sinkbasin
        sinkbasin = self.find_receptacle('sinkbasin')
        if sinkbasin is None:
            # If sinkbasin is not found, explore the environment
            self.explore()
            return
        else:
            self.goto(sinkbasin.name)
            self.clean(self.holding, sinkbasin.name)
        
        # Place the object in the receptacle
        r_entity = self.find_receptacle(receptacletype)
        if r_entity is None:
            # If the receptacle is not found, explore the environment
            self.explore()
            return
        else:
            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