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Denise Richards and Aaron Phypers found some more mud to sling ... Denise says she caught her estranged husband red-handed stealing her laptop.

The estranged couple had their lawyers duke it out in court Friday as part of a hearing for the temporary restraining order Denise has against Aaron ... and Denise's camp claimed they have security footage of Aaron running away from her home with her computer in hand. Play video content

Denise has claimed Aaron stole a laptop containing her nude photos ... but Aaron's denied it. His lawyers said Friday he doesn't have the laptop -- but her attorneys shot back with their claim that they have him on video with the laptop.

Worth noting ... Denise's attorneys did not show the alleged video -- at least not in this hearing. Play v

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