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The quake measuring 3.6 on the Richter scale struck at 6:32 PM and lasted for about three seconds.
According to the India Meteorological Department, the epicentre of the quake was located at Jaipur.
The tremor struck several areas of Jaipur including Bapu Nagar, Khatipura and Civil Lines.
There were no immediate reports of any loss of life or property.