I had this exact same problem only a few days ago.
Have a look at the Egg & Bowl Demo: discourse.panda3d.org/viewtopic.php … sic+engine
It grabs the contact joints, and has a method for visualising collision meshes and collisions etc, however it is a lengthy (but awesome) piece of code if you are not familiar with ODE. Note that it also uses PyODE directly, rather than the Panda3D wrappers.
As far as I could tell going over the manual and the forums, in the current version of Panda3D’s builtin ODE support, there is no way to get the contact joints? -Maybe someone tell me I’m wrong 
If you still want to use Panda3D’s ODE, i found that the ODE car demo was very informative: discourse.panda3d.org/viewtopic.php?t=5646.
Hope this helps,
-Aaron