choreonoid: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On Debian possible default full paths are:

/usr/bin/choreonoid - from package: choreonoid

You may install the required package with command apt-get install {package}

Error in other languages:
choreonoid: bevel nie gevind nie
choreonoid: comandă negăsită
choreonoid: comando não encontrado
choreonoid: commande introuvable
choreonoid: command not found
choreonoid: käsku ei ole
choreonoid: không tìm thấy lệnh
choreonoid: komanda nerasta
choreonoid: Kommando nicht gefunden.
choreonoid: kommandot finns inte
choreonoid: komut yok
choreonoid: nie znaleziono polecenia
choreonoid: níor aimsíodh an t-ordú
choreonoid: no se encontró la orden
choreonoid: no s'ha trobat l'ordre
choreonoid: opdracht niet gevonden
choreonoid: parancs nem található
choreonoid: perintah tidak ditemukan
choreonoid: príkaz nenájdený
choreonoid: příkaz nenalezen
choreonoid: команда не найдена
choreonoid: командата не е открита
choreonoid: 命令找不到
choreonoid: コマンドが見つかりません