def pick_and_place(self, objecttype, receptacletype):
    # Check if the agent is already holding the object
    if self.name2type(self.holding) == self.name2type(objecttype):
        # The agent is already holding the object, find a receptacle to place it
        receptacle = self.find_receptacle(receptacletype)
        if receptacle is None:
            # No receptacle found, explore the environment
            self.explore()
            return  # Return to allow the agent to explore further
        else:
            # Go to the receptacle and place the object
            self.goto(receptacle.name)
            self.put(self.holding, receptacle.name)
            return  # Return to allow the agent to make further decisions
    else:
        # The agent is not holding the object, find the object first
        entity = self.find_object(objecttype)
        if entity is None:
            # Object not found, find receptacle types that can contain the object
            r_types = self.find_canbe_contained(objecttype)
            if r_types is None:
                # No receptacle types found, explore the environment
                self.explore()
                return  # Return to allow the agent to explore further
            else:
                # Find the object in the receptacles of the found types
                for r_type in r_types:
                    r_entitys = self.find_receptacles(r_type)
                    if r_entitys is None:
                        continue  # Continue to the next receptacle type
                    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  # Return to allow the agent to explore further
                        # Check if the object is in the receptacle
                        if r_entity.name == entity.in_on:
                            self.take(entity.name, entity.in_on)
                            break  # Break out of the loop as the object is found
                else:
                    # Object not found in any receptacle, return to explore further
                    return
        else:
            # Object 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, find a receptacle to place it
    receptacle = self.find_receptacle(receptacletype)
    if receptacle is None:
        # No receptacle found, explore the environment
        self.explore()
        return  # Return to allow the agent to explore further
    else:
        # Go to the receptacle and place the object
        self.goto(receptacle.name)
        self.put(self.holding, receptacle.name)