def pick_and_place(self, objecttype, receptacletype):
    # First, ensure the agent is not already holding an object
    if self.holding is not None:
        # If the agent is holding an object, check if it's the one we need to place
        if self.name2type(self.holding) == self.name2type(objecttype):
            # If it is, proceed to place it in the receptacle
            receptacle = self.find_receptacle(receptacletype)
            if receptacle is not None:
                self.goto(receptacle.name)
                self.put(self.holding, receptacle.name)
                return
        else:
            # If the agent is holding a different object, we need to put it down first
            # Find a suitable receptacle to place the current 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 to find one
                self.explore()
                return

    # Now, proceed to pick up the object of the specified type
    entity = self.find_object(objecttype)
    if entity is None:
        # If the object is not found, explore the environment
        self.explore()
        return
    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 in the specified receptacle
    receptacle = self.find_receptacle(receptacletype)
    if receptacle is not None:
        self.goto(receptacle.name)
        self.put(self.holding, receptacle.name)
    else:
        # If the receptacle is not found, explore the environment
        self.explore()
        return