This is a project that we use the simulator DART with some other add-ons and we have a Panda robot try to stuck cubes on top of each other. We do this project by using Robot-DART libraries and Magnum with python. Note that this project contains graphics to show the simulation and so magnum is necessary to see the results.
Include the required libraries from the waf_tools folder. Also make sure you have magnum , robotDart, dartpy installed in your system.