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There's no dual boot. When you boot the Mac, you're in Unix. The GUI runs as a front end called the "Finder". To access the shell, you simply launch the terminal window and you're in the bash shell. You can set it up so it doesn't boot the GUI, but I've never done it.
As far as running Linux apps on the Mac, I know it is possible to recompile Unix apps for BSD, but I have never done it.
Pycar is written in Python and could theoretically be compiled for Mac Python, but it's beyond me how to do it.
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