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That looks like a small genital warts. you need to get in to see a urologist for an exam and they can do a simple procedure to either cut them out or laser them off. Hope this helps and let me know if you have questions
Yes, the herpes virus causes genital warts and this is considered an STD. Once you have the virus, there is nothing that can be done to get rid of it. You can only have any warts that arise removed.