I am trying to get a pick demo running in python. I am running

Ubuntu 18.04, kernel version 5.0.0-31-generic, and ROS melodic
moveit_tutorials built from source from branch origin/melodic-devel
panda_moveit_config built from source from branch origin/melodic-devel

There is a pick.py demo as part of the robotcommander source tree at https://github.com/ros-planning/moveit/blob/master/moveit_commander/demos/pick.py

however it seems to use a deprecated version of the api. Has anyone had any success with running this demo? If so can you please let me know what steps you had to go through to get it running?

Thanks.