diff --git a/README.md b/README.md
index d7e4a7f0..1d48a833 100644
--- a/README.md
+++ b/README.md
@@ -14,33 +14,34 @@ Note that Kaolin library is part of the larger [NVIDIA Kaolin effort](https://de
 Starting with v0.12.0, Kaolin supports installation with wheels:
 ```
 # Replace TORCH_VERSION and CUDA_VERSION with your torch / cuda versions
-pip install kaolin==0.15.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-{TORCH_VERSION}_cu{CUDA_VERSION}.html
+pip install kaolin==0.16.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-{TORCH_VERSION}_cu{CUDA_VERSION}.html
 ```
-For example, to install kaolin 0.15.0 over torch 1.12.1 and cuda 11.3:
+For example, to install kaolin 0.16.0 over torch 2.0.0 and cuda 11.8:
 ```
-pip install kaolin==0.15.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-1.12.1_cu113.html
+pip install kaolin==0.16.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-2.0.0_cu118.html
 ```
 
-## About the Latest Release (0.15.0)
+## About the Latest Release (0.16.0)
 
-In this version we added a [non commercial section](https://kaolin.readthedocs.io/en/latest/modules/kaolin.non_commercial.html) under [NSCL license](LICENSE.NSCL). See [The license section for more info](#Licenses) for more details.
+In this version we added a [Physics section](https://kaolin.readthedocs.io/en/latest/modules/physics.html).
 
-In this new section we implemented [features for Flexicubes](https://kaolin.readthedocs.io/en/latest/modules/kaolin.non_commercial.html#kaolin.non_commercial.FlexiCubes) a method to extract meshes from scalar fields. See more information in [the official repository](https://github.com/nv-tlabs/FlexiCubes) which is now using Kaolin's implementation.
+In this new section we implemented [Simplicits](https://kaolin.readthedocs.io/en/latest/modules/kaolin.physics.html) a geometry-agnostic method for elastic simulation. See more information in [the project page](https://research.nvidia.com/labs/toronto-ai/simplicits/).
 
-<a href="https://kaolin.readthedocs.io/en/latest/modules/kaolin.non_commercial.html#kaolin.non_commercial.FlexiCubes"><img src="./assets/flexicubes.png" alt="flexicubes" height="250" /></a>
+We've also added a [math section](https://kaolin.readthedocs.io/en/latest/modules/kaolin.math.html) with quaternions math features.
 
-In addition we implemented a [GLTF mesh loader](https://kaolin.readthedocs.io/en/latest/modules/kaolin.io.gltf.html) that can be used to load models from [Objaverse](https://objaverse.allenai.org/objaverse-1.0) and [Objaverse-XL](https://objaverse.allenai.org/).
+Finally we've improved workflow, with an [easy rendering API](https://kaolin.readthedocs.io/en/latest/modules/kaolin.render.easy_render.html), for quickly visualizing a model.
 
-<a href="https://kaolin.readthedocs.io/en/latest/modules/kaolin.io.gltf.html"><img src="./assets/gltf.png" alt="gltf" height="250" /></a>
+Check our new tutorials:
+[Use Simplicit's Easy API to Simulate a Mesh](https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/physics/simplicits_easy_api.ipynb) In this notebook we show how to use the high-level Simplicit API to simulate an imported Mesh.
+[Interact with a Physics Simulation](https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/physics/simplicits_interactive.ipynb) In this notebook we show to interact with the simulation by moving objects.
+[Use Simplicit's Full-Feature API](https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/physics/simplicits_low_level_api.ipynb) In this notebook we show how to use the low-level API to simulate a pointcloud.
 
 
-Check our new tutorial:
-[**Load and render a GLTF file** interactively into a Jupyter notebook:](https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/gltf_viz.ipynb)
-In this file we show how to load a gltf file and fully differentiably render it with [nvdiffrast](https://nvlabs.github.io/nvdiffrast/) and [spherical gaussian for diffuse and specular lighting](https://kaolin.readthedocs.io/en/latest/modules/kaolin.render.lighting.html), using displacement mapping and other materials properties from the GLTF file.
+[Easy rendering of Meshes](https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/easy_mesh_render.ipynb) Use our new high-level API to load a mesh, create a camera and lighting parameters and render interactively.
 
-<a href="https://github.com/NVIDIAGameWorks/kaolin/blob/master/examples/tutorial/gltf_viz.ipynb"><img src="./assets/avocado.png" alt="gltf notebook" height="250" /></a>
+<a href="https://github.com/NVIDIAGameWorks/kaolin/tree/master/examples/tutorial/physics"><img src="./assets/physics_bulldozer.gif" alt="physics documentation" height="250" /></a>
 
-See [change logs](https://github.com/NVIDIAGameWorks/kaolin/releases/tag/v0.15.0) for details.
+See [change logs](https://github.com/NVIDIAGameWorks/kaolin/releases/tag/v0.16.0) for details.
 
 ## Contributing
 
@@ -98,6 +99,7 @@ Current Team:
 - Technical Lead: Clement Fuji Tsang
 - Manager: Maria (Masha) Shugrina
 - Charles Loop
+- Vismay Modi
 - Or Perel
 - Alexander Zook
 
diff --git a/assets/physics_bulldozer.gif b/assets/physics_bulldozer.gif
new file mode 100644
index 00000000..3fc7356a
Binary files /dev/null and b/assets/physics_bulldozer.gif differ
diff --git a/ci/gitlab_jenkins_templates/core_ci.jenkins b/ci/gitlab_jenkins_templates/core_ci.jenkins
index f2f3fb18..5fa3b174 100644
--- a/ci/gitlab_jenkins_templates/core_ci.jenkins
+++ b/ci/gitlab_jenkins_templates/core_ci.jenkins
@@ -65,53 +65,251 @@ def ubuntu_cpuonly_configs = [
 
 // Configs for building python wheels
 def ubuntu_for_cuda_wheels_configs = [
+/*
+    [
+        'cudaVer': '11.7.1', 'cudnnVer': '8',
+        'torchVer': '2.0.0', 'archsToTest': 'MULTI'
+    ],
     [
         'cudaVer': '11.8.0', 'cudnnVer': '8',
         'torchVer': '2.0.0', 'archsToTest': 'MULTI'
     ],
-/*
+    [
+        'cudaVer': '11.7.1', 'cudnnVer': '8',
+        'torchVer': '2.0.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.0.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.1.0', 'archsToTest': 'MULTI'
+    ],
     [
         'cudaVer': '12.1.0', 'cudnnVer': '8',
         'torchVer': '2.1.0', 'archsToTest': 'MULTI'
     ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.1.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.1.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.1.2', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.1.2', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.2.0', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.2.0', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.2.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.2.1', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.3.0', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.3.0', 'archsToTest': 'MULTI'
+    ],
     [
         'cudaVer': '11.8.0', 'cudnnVer': '8',
         'torchVer': '2.3.1', 'archsToTest': 'MULTI'
     ],
-*/
     [
         'cudaVer': '12.1.0', 'cudnnVer': '8',
         'torchVer': '2.3.1', 'archsToTest': 'MULTI'
+    ]
+    [
+        'cudaVer': '11.8.0', 'cudnnVer': '8',
+        'torchVer': '2.4.0', 'archsToTest': 'MULTI'
     ],
+    [
+        'cudaVer': '12.1.0', 'cudnnVer': '8',
+        'torchVer': '2.4.0', 'archsToTest': 'MULTI'
+    ],
+    [
+        'cudaVer': '12.4.1', 'cudnnVer': '',
+        'torchVer': '2.4.0', 'archsToTest': 'MULTI'
+    ]
+*/
 ]
 
 def ubuntu_for_cpu_wheels_configs = [
+/*
     [
-        'torchVer': '2.3,1'
+        'torchVer': '2.0.0'
     ],
     [
-        'torchVer': '2.0.0'
+        'torchVer': '2.0.1'
+    ],
+    [
+        'torchVer': '2.1.0'
+    ],
+    [
+        'torchVer': '2.1.1'
+    ],
+    [
+        'torchVer': '2.1.2'
+    ],
+    [
+        'torchVer': '2.2.0'
+    ],
+    [
+        'torchVer': '2.2.1'
+    ],
+    [
+        'torchVer': '2.3.0'
+    ],
+    [
+        'torchVer': '2.3.1'
     ]
+    [
+        'torchVer': '2.4.0'
+    ]
+*/
 ]
 
 def windows_for_cuda_wheels_configs = [
+/*
+    [
+        'cudaVer': '11.7', 'cudnnVer': '8',
+        'torchVer': '2.0.0', 'archsToTest': ''
+    ],
     [
         'cudaVer': '11.8', 'cudnnVer': '8',
         'torchVer': '2.0.0', 'archsToTest': ''
     ],
+    [
+        'cudaVer': '11.7', 'cudnnVer': '8',
+        'torchVer': '2.0.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.0.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.1.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.1.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.1.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.1.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.1.2', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.1.2', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.2.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.2.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.2.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.2.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.3.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.3.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.3.1', 'archsToTest': ''
+    ],
     [
         'cudaVer': '12.1', 'cudnnVer': '8',
         'torchVer': '2.3.1', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '11.8', 'cudnnVer': '8',
+        'torchVer': '2.4.0', 'archsToTest': ''
+    ],
+*/
+    [
+        'cudaVer': '12.1', 'cudnnVer': '8',
+        'torchVer': '2.4.0', 'archsToTest': ''
+    ],
+    [
+        'cudaVer': '12.4', 'cudnnVer': '',
+        'torchVer': '2.4.0', 'archsToTest': ''
     ]
 ]
 
 def windows_for_cpu_wheels_configs = [
+/*
     [
         'torchVer': '2.0.0', 'archsToTest': ''
     ],
+    [
+        'torchVer': '2.0.1', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.1.0', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.1.1', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.1.2', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.2.0', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.2.1', 'archsToTest': ''
+    ],
+    [
+        'torchVer': '2.3.0', 'archsToTest': ''
+    ],
     [
         'torchVer': '2.3.1', 'archsToTest': ''
     ]
+*/
+    [
+        'torchVer': '2.4.0', 'archsToTest': ''
+    ]
 ]
 // Configs for build from Windows server docker images
 // (See: https://hub.docker.com/_/microsoft-dotnet-framework-sdk)
diff --git a/ci/gitlab_jenkins_templates/windows_wheels_CI.jenkins b/ci/gitlab_jenkins_templates/windows_wheels_CI.jenkins
index d2f10ce8..18614543 100644
--- a/ci/gitlab_jenkins_templates/windows_wheels_CI.jenkins
+++ b/ci/gitlab_jenkins_templates/windows_wheels_CI.jenkins
@@ -67,9 +67,7 @@ spec:
               --log-disable=PIL.TiffImagePlugin \
               --log-disable=kaolin.rep.surface_mesh \
               /kaolin/tests/python/kaolin/io/test_gltf.py \
-              /kaolin/tests/python/kaolin/io/usd/ \
               /kaolin/tests/python/kaolin/io/test_obj.py
-
         '''
       }
       if (currentBuild.getCurrentResult() != "FAILURE") {
diff --git a/docs/notes/installation.rst b/docs/notes/installation.rst
index 48cae3ce..4fd705de 100644
--- a/docs/notes/installation.rst
+++ b/docs/notes/installation.rst
@@ -13,9 +13,9 @@ Requirements
 ------------
 
 * Linux, Windows, or macOS (CPU-only)
-* Python >= 3.8, <= 3.10
+* Python >= 3.9, <= 3.11
 * `CUDA <https://developer.nvidia.com/cuda-toolkit>`_ >= 10.0 (with 'nvcc' installed) See `CUDA Toolkit Archive <https://developer.nvidia.com/cuda-toolkit-archive>`_ to install older version.
-* torch >= 1.8, <= 2.1.1
+* torch >= 2.0, <= 2.4.0
 
 Quick Start (Linux, Windows)
 ----------------------------
@@ -32,31 +32,37 @@ Quick Start (Linux, Windows)
 
 .. rst-class:: center-align-center-col
 
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch / CUDA** | **cu113** | **cu116** | **cu117** | **cu118** | **cu121** |
-    +==================+===========+===========+===========+===========+===========+
-    | **torch-2.1.1**  |           |           |           |     ✓     |     ✓     |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-2.1.0**  |           |           |           |     ✓     |     ✓     |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-2.0.1**  |           |           |     ✓     |     ✓     |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-2.0.0**  |           |           |     ✓     |     ✓     |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-1.13.1** |           |     ✓     |     ✓     |           |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-1.13.0** |           |     ✓     |     ✓     |           |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-1.12.1** |     ✓     |     ✓     |           |           |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
-    | **torch-1.12.0** |     ✓     |     ✓     |           |           |           |
-    +------------------+-----------+-----------+-----------+-----------+-----------+
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch / CUDA** | **cu117** | **cu118** | **cu121** | **cu124** |
+    +==================+===========+===========+===========+===========+
+    | **torch-2.4.0**  |           |     ✓     |     ✓     |     ✓     |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.3.1**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.3.0**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.2.2**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.2.1**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.2.0**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.1.2**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.1.1**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.1.0**  |           |     ✓     |     ✓     |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.0.1**  |     ✓     |     ✓     |           |           |
+    +------------------+-----------+-----------+-----------+-----------+
+    | **torch-2.0.0**  |     ✓     |     ✓     |           |           |
+    +------------------+-----------+-----------+-----------+-----------+
    
-For example, to install kaolin for torch 1.12.1 and CUDA 11.3:
+For example, to install kaolin for torch 2.0.0 and CUDA 11.8:
 
 .. code-block:: bash
 
-    $ pip install kaolin==0.15.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-1.12.1_cu113.html
+    $ pip install kaolin==0.16.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-2.0.0_cu118.html
 
 You can check https://nvidia-kaolin.s3.us-east-2.amazonaws.com/index.html to see all the wheels available.
 
@@ -80,7 +86,7 @@ Clone and optionally check out an `official release <https://github.com/NVIDIAGa
 
     $ git clone --recursive https://github.com/NVIDIAGameWorks/kaolin
     $ cd kaolin
-    $ git checkout v0.15.0 # optional
+    $ git checkout v0.16.0 # optional
 
 2. Install dependencies
 ^^^^^^^^^^^^^^^^^^^^^^^
diff --git a/setup.py b/setup.py
index ece6a99f..5a4aaaeb 100644
--- a/setup.py
+++ b/setup.py
@@ -14,7 +14,7 @@
 import warnings
 
 TORCH_MIN_VER = '1.6.0'
-TORCH_MAX_VER = '2.3.1'
+TORCH_MAX_VER = '2.4.0'
 CYTHON_MIN_VER = '0.29.37'
 IGNORE_TORCH_VER = os.getenv('IGNORE_TORCH_VER') is not None
 
diff --git a/tests/python/kaolin/render/camera/test_gsplats.py b/tests/python/kaolin/render/camera/test_gsplats.py
index c52d241a..2ca21710 100644
--- a/tests/python/kaolin/render/camera/test_gsplats.py
+++ b/tests/python/kaolin/render/camera/test_gsplats.py
@@ -30,7 +30,7 @@
 if torch.version.cuda == '12.5':
     pytest.skip("gsplats is not installable with CUDA 12.5", allow_module_level=True)
 
-ROOT_DIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'gsplats')
+ROOT_DIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'inria_gsplats')
 @pytest.fixture(scope="module")
 def gs_cam_cls():
     repo = Repo.clone_from(
@@ -47,7 +47,7 @@ def gs_cam_cls():
         sys.executable, "-m", "pip", "install",
         os.path.join(ROOT_DIR, "submodules", "simple-knn")
     ])
-    from .gsplats.scene.cameras import Camera as GSCamera
+    from scene.cameras import Camera as GSCamera
     
     yield GSCamera
     sys.path.remove(ROOT_DIR)
diff --git a/tests/samples/io/armchair.bin b/tests/samples/io/armchair.bin
deleted file mode 120000
index a998878d..00000000
--- a/tests/samples/io/armchair.bin
+++ /dev/null
@@ -1 +0,0 @@
-../../../sample_data/meshes/armchair.bin
\ No newline at end of file
diff --git a/tests/samples/io/armchair.bin b/tests/samples/io/armchair.bin
new file mode 100644
index 00000000..b1bb7a2d
Binary files /dev/null and b/tests/samples/io/armchair.bin differ
diff --git a/tests/samples/io/armchair.gltf b/tests/samples/io/armchair.gltf
deleted file mode 120000
index 3eccbdd6..00000000
--- a/tests/samples/io/armchair.gltf
+++ /dev/null
@@ -1 +0,0 @@
-../../../sample_data/meshes/armchair.gltf
\ No newline at end of file
diff --git a/tests/samples/io/armchair.gltf b/tests/samples/io/armchair.gltf
new file mode 100644
index 00000000..f74f45eb
--- /dev/null
+++ b/tests/samples/io/armchair.gltf
@@ -0,0 +1,351 @@
+{
+    "asset" : {
+        "generator" : "Khronos glTF Blender I/O v1.8.19",
+        "version" : "2.0"
+    },
+    "scene" : 0,
+    "scenes" : [
+        {
+            "name" : "Scene",
+            "nodes" : [
+                0,
+                1,
+                2
+            ]
+        }
+    ],
+    "nodes" : [
+        {
+            "mesh" : 0,
+            "name" : "Back_LP",
+            "rotation" : [
+                0.7071068286895752,
+                0,
+                0,
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diff --git a/tests/samples/io/avocado.bin b/tests/samples/io/avocado.bin
deleted file mode 120000
index 07ac6a46..00000000
--- a/tests/samples/io/avocado.bin
+++ /dev/null
@@ -1 +0,0 @@
-../../../sample_data/meshes/avocado.bin
\ No newline at end of file
diff --git a/tests/samples/io/avocado.bin b/tests/samples/io/avocado.bin
new file mode 100644
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deleted file mode 120000
index 7e41dcd3..00000000
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+++ /dev/null
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-../../../sample_data/meshes/avocado.gltf
\ No newline at end of file
diff --git a/tests/samples/io/avocado.gltf b/tests/samples/io/avocado.gltf
new file mode 100644
index 00000000..d097009b
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diff --git a/tests/samples/io/avocado.mtl b/tests/samples/io/avocado.mtl
deleted file mode 120000
index c71bb59d..00000000
--- a/tests/samples/io/avocado.mtl
+++ /dev/null
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-../../../sample_data/meshes/avocado.mtl
\ No newline at end of file
diff --git a/tests/samples/io/avocado.mtl b/tests/samples/io/avocado.mtl
new file mode 100644
index 00000000..74e3cb8d
--- /dev/null
+++ b/tests/samples/io/avocado.mtl
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+# Material Count: 1
+
+newmtl 2256_Avocado_d
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
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+map_Kd textures/Avocado_baseColor.png
+map_Ns -imfchan g textures/Avocado_roughnessMetallic.png
+map_refl -imfchan b textures/Avocado_roughnessMetallic.png
diff --git a/tests/samples/io/avocado.obj b/tests/samples/io/avocado.obj
deleted file mode 120000
index 656c724a..00000000
--- a/tests/samples/io/avocado.obj
+++ /dev/null
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-../../../sample_data/meshes/avocado.obj
\ No newline at end of file
diff --git a/tests/samples/io/avocado.obj b/tests/samples/io/avocado.obj
new file mode 100644
index 00000000..416c6ced
--- /dev/null
+++ b/tests/samples/io/avocado.obj
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diff --git a/tests/samples/io/avocado.usd b/tests/samples/io/avocado.usd
deleted file mode 120000
index 10dad3da..00000000
--- a/tests/samples/io/avocado.usd
+++ /dev/null
@@ -1 +0,0 @@
-../../../sample_data/meshes/avocado.usda
\ No newline at end of file
diff --git a/version.txt b/version.txt
index a5510516..04a373ef 100644
--- a/version.txt
+++ b/version.txt
@@ -1 +1 @@
-0.15.0
+0.16.0