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You can download the Choregraphe installer for Windows 10 64bit / Mac OS X 10.12 Sierra / Ubuntu 16.04 Xenial Xerus - 64bit only. On Windows, you also need some C++ Redistributable Packages for Choregraphe to work. Choregraphe does not work on modern 64-bit macOS (use a VM).
Choregraphe is a visual programming environment to program the robot with. Although useful for quick demos, the limitations quickly surface when trying to design a decent interaction. We only use Choregraphe to install gestures on the robot. This is a necessary step to be able to access them from your application.
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To be able to install software on your (physical) robot, you first need to connect with it (see #1 in the figure above). You need to be on the same network as the robot. If you are, the robot should be auto-detected by Choregraphe (green head in the connection menu). If this does not work, you can also manually connect by entering its IP-address. In the bottom-left part of the screen (#2) you can find all the available animations. Drag and drop the animation you want to the main part of the screen (#3) and connect them by drawing the “wires” as shown in the image. Run the animation by hitting the green play button (#4) to test if everything is working properly. When everything is working as intended, go to the properties (#5). See figure below how to set the properties properly. After everything is set up properly you can install the animation on the robot (#6). Now you can access this animation, for example in your Python code by calling doGesture(“<gestureID>"<gestureID>/behavior_1”1").
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In the properties menu first set the "Supported languages" to "Language Independent" (#1). Secondly, give the gesture a concise name and enter that name in both the "Application title" and "Application ID" fields (#2).