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This is the true answer so listen. When you're in the cave and you get out of the cage, go to the table with the hammer and click on the blue-prints on the wall. At the end, when Herbert calls G, when he asks you what happened then click on the box that says I found your blue-prints. At the very end, when its over click on the green box that says receive your gift,or something like that, and you will get the stamp! Trust me it works, so try it out for yourself.

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Q: How do you do the secret task in Mission 6 of the PSA?
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