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YangInstanceIdentifier

Hi, I have two YangInstanceIdentifiers and by combining the two , I will get the exact path to the entity in MDSAL. Is there a way to create the resulting YangInstanceIdentifier when I have two partial YangInstanceIdentifiers? If so, can someone explain me how to do the same?

On the other hand, if I have a NormalizedNode, is there a way to get the YangInstanceIdentifer from it to get the entities Path in the datastore?