Foam and normal pepakura templates

You may not be able to reasonably. If you take a foam-unfolded pep file and undo the unfold in Designer, the software will still not reconstruct it with all the detail that the original model had, and then it would still have to be reconfigured and unfolded for paper. Your best bet is to just contact the modeler for a paper-pep .pdo of the file.
 
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