For newborn poops, I just swished them around a bit in the toilet. (Yes, you are getting up-close and personal with the toilet, but I figured I'm dealing with poop, anyway! That's what rubber gloves are for, yes? Not that I ever dipped my hands into the water directly, just swished.) That would get rid of most of it. Then wring them and drop them in the pail.
I never used a wet pail because I washed the diapers every day. I never worried particularly about stains. They are diapers, and only going to get more of that on them, anyway. Remember, a stain is not dirt. It is just a stain. They can be perfectly *clean* and still be stained.
Once in a while I'd toss some chlorine into the machine and bleach the heck out of them, but mostly I ignored the pale yellow or brown smudges...
I never had a problem with the smell, though. I wonder if it's because I washed daily? To prevent the plastic of the pail from absorbing the smell, I would drop an eighth of a cup of chlorine bleach into 2 cups of water and swish it, let it sit for half an hour, then tip it out and let it air-dry. (Oh! There's ammonia in urine, and chlorine mixed with ammonia can be very dangerous. Rinse the pail before you add the bleach!)
There is a great product called "Amaze" which is good for getting rid of these kinds of stains, and it also deodorizes. My aunt (she's only 7 years older than me!) used it in a wet pail for odor.
The other thing that is excellent for cloth diapers, if you can manage it, is to line-dry them. The sun is an effective bleacher and disinfectant. They'll be a little stiff at first (until they get one pee in them!), but they'll be fresh.
You only have to do multiple washes and rinses if your baby's skin is particularly reactive, and in that case, the best thing is to seek a different detergent and/or avoid the bleach.
At first, I used Ivory, but after a few months, I used the same detergent I used on everyone's clothes, and the kids were fine with that.
Wow. This was long! Hope it's helpful.