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Connect with the robot (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
do_gesture("<gestureID>/behavior_1").In the properties menu first set the "Supported languages" to "Language Independent" (see #1 in the figure below).
Give the gesture a concise name and enter that name in both the "Application title" and "Application ID" fields (#2).
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There are also two good Youtube tutorials that will walk you through the basics of Choreographe: