On Unix/Linux systems, the command is vjcontrol; on Win32, the command is vjcontrol.bat. If $VJ_BASE_DIR/bin is not in your search path, you will need to give the entire path to VjControl on the command line.
VjControl's Preferences control what files are loaded automatically on startup. There are also command-line arguments that can be used to load files at startup. With the default preferences, VjControl will attempt to load $VJ_BASE_DIR/share/Data/chunksDesc, which contains definitions for the basic types of VR Juggler configuration information.