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Seems sqorus was removed in blender 2.7.x so I used add mesh -> extra -> beam builder instead. How do I make this have rounded edges? If I add bevel modifier to it, it looks completely messed up.

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This is what I want, smooth curves but cut straight in the front/back faces.

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    $\begingroup$ Just correct the normals before beveling (ctrl+N in edit mode) $\endgroup$ – lemon Mar 26 '17 at 16:29
  • $\begingroup$ Also adjust the Bevel Width $\endgroup$ – Duarte Farrajota Ramos Mar 26 '17 at 16:59
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Use the beam builder

Then in edit mode, select all and correct the normal CtrlN.

Now select one of the edges you want to bevel.

ShiftG to select similar and choose "length".

Your wanted edges are now selected.

Use CtrlB to bevel (use Numpad + or Numpad - to set the bevel depth).

enter image description here

Note: if you want to smooth it, click on smooth, but the result is weird, so, add an 'edge split' modifier.

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