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I know that the initial question is broader than the specific stated goal of using the Darwin-OP with ROS, but I think that the existing package for this robot would be an excellent starting point for the OP.

This package could be used as an aide to develop the generic how-to (and to learn more about ROS).

To be clear, I haven't used the package personally. From everything I've read and seen), there already is a urdf file. I also gather that simulations are also provided via webots.