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f you are using macOS, add both Android SDK emulator and tools directories to the path:

Step 1: In my case the order was important, first emulator and then tools.

export ANDROID_SDK=$HOME/Library/Android/sdk
export PATH=$ANDROID_SDK/emulator:$ANDROID_SDK/tools:$PATH

Step 2: Reload you .bash_profile Or .bashrc depending on OS

Step 3: Get list of emulators available: $emulator -list-avds

Step 4: Launch emulator from the command line and Replace avd with the name of your emulator $emulator @avd

Don't forget to add the @ symbol.

This was tested with macOS High Sierra 10.13.4 and Android Studio 3.1.2.