what is the state of pick and place in moveit2?

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Hello everyone,

I have been working on doing some basic pick and place in Moveit2 (ros2 foxy). I have been using the original Moveit tutorials as a guideline as most of the tutorials haven't been ported to moveit2 yet (the pick and place tutorial). The move_group_interface.pick() function does not seem to be implemented in Moveit2 (yet?). Therefore my question: What is the state of pick and place in Moveit2, is there a different way of approaching pick and place tasks in moveit2?

I have read about the Moveit Task Constructor, does anyone have any information about whether this works in Moveit2 allready? I cant seem to get it to work on my system.

Thank you for your time.