Panda's ODE?

I have some questions about Panda 1.5.3’s implementation of ODE. There doesn’t seem to be a way to use ODE that standard way, which is to call collide and work out the contact points yourself. How is autoCollide/autoCallback meant to be used? Hypno’s has done a good job figuring out a way to use panda’s ODE but it seems a bit limited to me as you can’t adjust the contacts based on the objects and adding new objects to the world after initialization seems somewhat expensive.

Can one of the devs explain how to use it? Panda’s ODE? Thanks.