Panda Joints + Ode Joint

Hi, there are no examples how to manimulate Panda actor Joints by using Ode joints. Can somebody explain how can it be done?

There is explanation and an example in this thread (in a post by drwr):

So i Have managed to move Panda Joints with Ode Joints, and control Panda Joint by using Ode Joints Inverse Kinematics, but there is one awkwardness, Panda Joints is Extending model mesh model ( without Ode joints manipulations and with), can somebody explain what is wrong?

def restrain(i, mn = -1, mx = 1): return min(max(i, mn), mx)

def __init__(self):
        self.handstart = self.hand.controlJoint(None, 'modelRoot', 'end')
        taskMgr.add(self.turnFinger, "turnFinger")

 def turnFinger(self, task):
        self.handstart.setP(restrain(self.x) * 50)
        self.handstart.setH(restrain(self.y) * 50)
        self.handstart.setZ(restrain(0) * 50)

def spamXPlus(self):
        self.x = self.x + 0.1;

def spamXMinus(self):
        self.x = self.x - 0.1;

def spamYplus(self):
        self.y = self.y + 0.1;

def spamYMinus(self):
        self.y = self.y - 0.1;