Usually the developer can use Softbanks own software Choreography to give programs to Pepper robot.
Isn't there a way to setup a different development environment? e.g. Access via SSH and creating Python scripts with a simple text editor and starting the script manually? It means writing and starting Python scripts for Pepper without using Choreography.
Of course, using Choregraphe is not an obligation, you can use the different SDKs directly. You can for instance create a python script on your computer, copy it on the robot
scp path/to/script/myscript.py nao@robotIp
And then ssh onto the robot and launch the script
ssh nao@robotIp
python myscript.py
You can also ssh onto the robot, create a script (using nano for instance) and launch it from there.