You can uninstall or removes an installed choreonoid-data package itself from Ubuntu 16.04 LTS (Xenial Xerus) through the terminal,
$ sudo apt-get remove choreonoid-data
If you would like to remove choreonoid-data and it's dependent packages which are no longer needed from Ubuntu,
$ sudo apt-get remove --auto-remove choreonoid-data
If you use with purge options to choreonoid-data package all the configuration and dependent packages will be removed.
$ sudo apt-get purge choreonoid-data
If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.
$ sudo apt-get purge --auto-remove choreonoid-data