Is it possible to truly, completely understand and know that a certain act is

Is it possible to truly, completely understand and know that a certain act is

Is it possible to truly, completely understand and know that a certain act is unethical or immoral, and yet still do it (absent any external pressures, or internal pathologies like psychopathy)? Or is it so that full knowledge of immorality exclude one from acting immorally, and that a person who behaves immorally actually doesn't understand the immorality of their actions?

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