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Venezuela's opposition leaders requested the shipments and vowed to bring them inside the troubled nation despite objections from embattled President Nicolas Maduro.
The focus of Venezuela's political fight now hinges on whether Maduro will allow the aid to pass.
Opposition leader Juan Guaido said the aid is necessary in a country racked by shortages of basic goods.
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Maduro denies a humanitarian crisis exists and says Venezuela is not a country of beggars.
The Venezuelan military has barricaded a bridge between the two nations in an apparent attempt to block the aid.