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The capsule, which is expected to re-enter Earth's atmosphere at 2am AEST, holds about 250 grams of rock collected in 2020 from the near-Earth asteroid Bennu by NASA's OSIRIS-REx mission.
The mission marks the first time the United States has taken a sample from an asteroid, although Japan has conducted similar missions in 2018 and 2010.
The sample will help scientists better understand how Earth and the solar system were formed.
The sample, which took just five seconds to be gathered, has spent the past two years traversing the 122-million-kilometre-long journey back to Earth.
The capsule, which is expected to re-enter Earth's atmosphere at 2am AEST, holds about 250 grams of rock collected in 2020 from the near-Earth asteroid Bennu by NASA's OSIRIS-REx mission.
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