$ sudo apt-get update
$ sudo apt-get install choreonoid-plugins-base 

choreonoid-plugins-base is installed in your system.

Make ensure the choreonoid-plugins-base package were installed using the commands given below,

$ sudo dpkg-query -l | grep choreonoid-plugins-base *

You will get with choreonoid-plugins-base package name, version, architecture and description in a table

choreonoid-plugins-base package basic information: