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Clip jialin dev - #76

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mengxuyiGit wants to merge 72 commits into
NVlabs:mainfrom
mengxuyiGit:clip_jialin_dev
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Clip jialin dev#76
mengxuyiGit wants to merge 72 commits into
NVlabs:mainfrom
mengxuyiGit:clip_jialin_dev

checked chamfer scale

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