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The family was named after the family castle , Castle Helfenstein , located above Geislingen an der Steige in the Swabian Alb region of Baden-Württemberg , Germany .
 Geislingen an der Steige, Baden-Württemberg
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: location, person, organization 
Text: {0} 
Answer:
 Geislingen an der Steige, Baden-Württemberg