Cook the shelled and deveined shrimp by boiling them for a couple of minutes or sautéeing them in olive oil (my preferred method). Cook until done, being careful not to overcook as the citrus juices will further "cook" the shrimp.
Chop the shrimp into small chunks and let them sit to cool down while you make the pico.
Make the pico and add the peaches (or nectarines), extra lemon and lime juice, mint leaves, and cilantro.
Combine the pico/peach/vegetable mix with the shrimp.
Let this sit for at least 20 minutes.
Cube the avocado and add it to the mix, lightly stirring.
Taste to see if you need to add any more salt or pepper.