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Trying with my own Panda I can see it should work if you use manipulator, assuming the correct srdf is this one. At the very least, this is my own IO:

$ rosrun moveit_commander moveit_commander_cmdline.py
[ INFO] [1545237637.362904035]: Loading robot model 'panda'...
[ INFO] [1545237637.427494951]: Loading robot model 'panda'...

Waiting for commands. Type 'help' to get a list of known commands.

> use panda_arm
[ INFO] [1545237642.953916840]: Ready to take commands for planning group panda_arm.
OK
panda_arm>