People who can already work with Choregraphe can also add their self-made behaviors to ZoraControl. These behaviors can therefore be started via ZoraControl.
Zora V5: Choregraphe 2.1.4
Zora V6: Choregraphe 188.8.131.52
You can read how to do this in the attached document.
NOTE: We do not provide support when using Choregraphe. For this you can visit youtube or the documentation of Softbank Robotics.