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I found a fuller explanation on how to do the build at:

Raspberry Pi Pico Python SDK
https://datasheets.raspberrypi.com/pico/raspberry-pi-pico-python-sdk.pdf

It mentions:

$ sudo apt update
$ sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential

That worked for me.

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@ZacharyInDallas
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@jimmo
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@ZacharyInDallas
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