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Creating a 3D sketch

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I am trying to create a 3D curve which is composed of a few segments of lines with radii between them (the lines are not lying in one plane). I connected the lines by creating the intersection points. But I couldn't find any fillet option for 3D lines?

I tried creating arcs between the lines. Although this was easy, but then I was stucked by trimming them, which was not easy at all.

Then I realised that there was a fillet line option which was under the sketch lines. But I couldn't find any 3D sketch option in NX. That feature (i.e. 3D sketch)  is easy in Inventor (you can create 2D or 3D sketches).

My question is:

What is the simplest way to create fillets for 3D connected lines (say 3 perpendicular lines not in one plane)?


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