Robert Irwin jokes about baring all in underwear ad: ‘DWTS’ video

From the barbie to the ballroom.

Robert Irwin has taken Season 34 of “Dancing with the Stars” by storm alongside his pro partner, Witney Carson.

Not only has the wildlife conservationist, 21, dipped his toe into dancing, but he recently starred in ads for the men’s underwear company, Bonds. All of which Irwin never thought would be possible.

“Oh my gosh,” he exclusively gushed to The Post after week two of the show on Tuesday. “You know what? Doing an underwear commercial and being on ‘Dancing with the Stars’ was not on my bingo card, but honestly, here we are. I feel like I’m just embracing all the side quests. But this project in particular feels like 10 years in the making.”

Throughout all his recent adventures, taking the stage in front of America is one of his favorites.

“Out of everything I’ve done, whether it’s being in my undies, catching crocodiles, whatever it is, this is honestly probably the greatest experience of my whole life, and I’m just so grateful to be here,” Irwin gushed. “And it hasn’t sunk in yet, I’m still just like, ‘What the heck am I doing? This is insane.’”

His journey wasn’t too far-fetched, however, as the Australian zookeeper’s sister Bindi Irwin won Season 21 alongside now judge, Derek Hough.

But Robert isn’t giving credit to his sister, 27, mom Terri Irwin, or his dad, the late Steve Irwin who died in 2006 after being stung by a stingray.

The person responsible, in the reality star’s eyes, is Carson, 31.

“You know where the dance experience comes from? It comes from Witney, honestly,” he said. “I mean, seriously, out of everything I’m grateful about in this whole experience, having a dance partner that is just so incredibly and obviously skilled. Choreographically, just genius, but also just an extremely kind human being. And we’re just here to have fun, which is the absolute best.”

Terri, 61, Bindi and her husband Chandler, 28, and their daughter Grace, 4, have all relocated to Los Angeles to support Robert during the show.

“It’s been so sweet,” he said, noting that his family and Carson’s loved ones “have all gotten together.”

“We’ve all been spending time together. And it feels like just kindred spirits. It’s so wonderful. When this show brings together people and just forms these relationships and these friendships that last forever.”

As much fun as the young star is having in the ballroom, it still stands as a more terrifying experience for Robert than his natural habitat: out in the wild.

“The ballroom is so much more terrifying than a crocodile,” he detailed. “If a 15-foot croc pulled up right now, I jump on him. No worries at all. You tell me to do a salsa and I’m terrified.”

He added, “But I mean, I think we’ve been navigating it.”

And for viewers wondering if his upbeat demeanor is the same off-camera, Carson confirmed that it certainly is.

“He’s exactly how you see him right now,” the dance pro told The Post. “And I’ve actually tried to poke and prod and try to get him a little frustrated because that’s like my job as the big sister. Just be like, ‘Hmm, what’s your button?’ There’s really not any that I’ve found so far. He’s just pure through and through.”

“I just come to rehearsal every day, just so stoked to spend the day with Witney and have the best time and pour everything into something that’s hopefully bringing some positivity to people,” Robert chimed in. “That’s what we need.”