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I guess that you're using Ubuntu 11.10 (Oneiric), which does not provide any more. According to Nao's documentation, Oneiric is not officially supported by Aldebaran yet. You can still give it a try, but probably some dependencies will be missing.

In the case of libmpfr, you could try to download the package libmpfr1ldbl from Ubuntu Natty, extract it using dpkg -x and copy to /media/external/nao-cross-toolchain-1.10.52/cross/geode/bin/../libexec/gcc/i586-linux/4.3.3 .