def pick_and_place(self, objecttype, receptacletype):
    # Step 1: Ensure the agent is not already holding the object
    if self.holding is not None and self.name2type(self.holding) == self.name2type(objecttype):
        # If the agent is already holding the object, proceed to place it
        pass
    else:
        # Step 2: Find the object of the specified type
        entity = self.find_object(objecttype)
        if entity is None:
            # If the object is not found, explore the environment to find it
            self.explore()
            return  # Return to allow the agent to re-evaluate after exploring

        # Step 3: Go to the receptacle where the object is located
        self.goto(entity.in_on)
        r_entity = self.seen_entitys[entity.in_on]

        # Step 4: If the receptacle is openable and closed, open it
        if r_entity.openable and not r_entity.isopen:
            self.open_receptacle(r_entity.name)
            return  # Return to allow the agent to re-evaluate after opening

        # Step 5: Take the object
        self.take(entity.name, entity.in_on)

    # Step 6: Find a receptacle of the specified type to place the object
    receptacle = self.find_receptacle(receptacletype)
    if receptacle is None:
        # If the receptacle is not found, explore the environment to find it
        self.explore()
        return  # Return to allow the agent to re-evaluate after exploring

    # Step 7: Go to the receptacle
    self.goto(receptacle.name)

    # Step 8: If the receptacle is openable and closed, open it
    if receptacle.openable and not receptacle.isopen:
        self.open_receptacle(receptacle.name)
        return  # Return to allow the agent to re-evaluate after opening

    # Step 9: Place the object in the receptacle
    self.put(self.holding, receptacle.name)