def pick_and_place(self, objecttype, receptacletype):
    # Check if the agent is already holding the object of the specified type
    if self.name2type(self.holding) == self.name2type(objecttype):
        # If the agent is holding the object, find the receptacle to place it in
        r_entity = self.find_receptacle(receptacletype)
        if r_entity is None:
            # If the receptacle is not found, explore the environment
            self.explore()
            return  # After exploration, the environment might have new entities, so return for the next decision-making
        else:
            # Go to the receptacle and place the object
            self.goto(r_entity.name)
            self.put(self.holding, r_entity.name)
            return  # After placing the object, return for the next decision-making
    else:
        # If the agent is not holding the object, find the object and pick it up
        entity = self.find_object(objecttype)
        if entity is None:
            # If the object is not found, find the receptacle types that can contain the object
            r_types = self.find_canbe_contained(objecttype)
            if r_types is None:
                # If the receptacle types are not found, explore the environment
                self.explore()
                return  # After exploration, the environment might have new entities, so return for the next decision-making
            else:
                # If the receptacle types are found, check each receptacle type for the object
                for r_type in r_types:
                    r_entitys = self.find_receptacles(r_type)
                    if r_entitys is None:
                        # If the receptacle is not found, continue to the next receptacle type
                        continue
                    for r_entity in r_entitys:
                        self.goto(r_entity.name)
                        if r_entity.openable and not r_entity.isopen:
                            # If the receptacle is closed, open it to check its contents
                            self.open_receptacle(r_entity.name)
                            return  # After opening the receptacle, the environment might have new entities, so return for the next decision-making
                        else:
                            # If the receptacle is open, check if the object is inside
                            entity = self.find_object(objecttype)
                            if entity is not None:
                                # If the object is found, go to the receptacle and pick it up
                                self.goto(entity.in_on)
                                self.take(entity.name, entity.in_on)
                                break  # After picking up the object, break the loop
                else:
                    # If the object is not found after checking all receptacles, return for the next decision-making
                    return
        else:
            # If the object is found, go to the receptacle and pick it up
            self.goto(entity.in_on)
            self.take(entity.name, entity.in_on)
        
        # After picking up the object, find the receptacle to place it in
        r_entity = self.find_receptacle(receptacletype)
        if r_entity is None:
            # If the receptacle is not found, explore the environment
            self.explore()
            return  # After exploration, the environment might have new entities, so return for the next decision-making
        else:
            # Go to the receptacle and place the object
            self.goto(r_entity.name)
            self.put(self.holding, r_entity.name)