Setting up ROS:
rosparam load `rospack find hrp2_14_description`/sot/hrp2_14_reduced.yaml
rosrun robot_state_publisher state_publisher

Display the robot using the info given in
https://trac.laas.fr/gepetto/hrp2/hrp2_14_description/html/reference/

To repeat at each simulation:
rosrun dynamic_graph_bridge geometric_simu --input-file ~/devel/ros-unstable-2/install/lib/libsot-hrp2-14-controller.so
rosrun dynamic_graph_bridge run_command
>>> from dynamic_graph.sot.application.velocity.precomputed_tasks import *
>>> solver=initialize(robot)
rosservice call /start_dynamic_graph
>>> Put_whatever_you_want_in_python

The rationale is to use a state vector map provided by the robot stack.
For instance for hrp-2 we have a yaml file providing the ros parameter:
/sot/state_vector_map
which specifies the state vector:
[RLEG_JOINT0, RLEG_JOINT1, RLEG_JOINT2, RLEG_JOINT3, RLEG_JOINT4, RLEG_JOINT5, LLEG_JOINT0,
  LLEG_JOINT1, LLEG_JOINT2, LLEG_JOINT3, LLEG_JOINT4, LLEG_JOINT5, CHEST_JOINT0, CHEST_JOINT1,
  HEAD_JOINT0, HEAD_JOINT1, RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4,
  RARM_JOINT5, RARM_JOINT6, LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4,
  LARM_JOINT5, LARM_JOINT6]