DFU beaglebone AI

I am trying USB DFU on beaglebone AI.
The manual shows that the SYSBOOT configuration is enabled for USB DFU.

From the manuals they say that must use the command “usbboot-stand-alone”,
i use ubuntu, but i can’t find this command !.
I also installed the package “sudo apt-get install dfu-util” but nothing does not exist this command, where can I find it?