diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d99c3ae..fea190c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -30,8 +30,8 @@ jobs:
           cache: 'npm'
       - run: npm ci
       - run: npx playwright install chromium --with-deps
-      - name: Generate E2E MCAP fixture
-        run: node scripts/gen-test-mcap.mjs
+      - name: Generate E2E fixtures
+        run: npm run gen:e2e:fixtures
       - run: npm run test:e2e
         env:
           CI: true
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
index 836332c..efce917 100644
--- a/docs/DEVELOPMENT.md
+++ b/docs/DEVELOPMENT.md
@@ -11,26 +11,26 @@
 | `npm run build:lib` | `tsc` + **npm package** build (`vite.lib.config.ts` → `dist-lib/`); used by `prepublishOnly` and embedders. |
 | `npm run test:e2e` | Playwright (requires fixture MCAP; see below). |
 
-## Fixtures (`public/examples/`)
+## Fixtures
 
-Place sample bags/MCAP files here for local dev and E2E. Expected names include:
-
-- `test_5s.mcap` — minimal indexed MCAP for most Playwright cases (generated automatically before `test:e2e`; see `scripts/gen-test-mcap.mjs`)
-- `episode_20260122_122345.hdf5` — optional HDF5 case
-
-Regenerate the default small MCAP (also run as `pretest:e2e` via `npm run gen:e2e:fixtures`):
+Committed sources live under **`test-fixtures/`** (layouts, minimal HDF5/BVH, H264/JPEG bytes). Playwright copies or generates runtime files into **`public/examples/`** (gitignored) via:
 
 ```bash
 npm run gen:e2e:fixtures
 ```
 
-Override paths when files live elsewhere:
+This runs automatically as `pretest:e2e` before `npm run test:e2e`.
 
-```bash
-export ROSVIEW_TEST_MCAP=/absolute/path/to/test_5s.mcap
-export ROSVIEW_TEST_HDF5=/absolute/path/to/episode.hdf5
-npm run test:e2e
-```
+| Generated file (`public/examples/`) | Purpose |
+|-------------------------------------|---------|
+| `test_5s.mcap` | Basic MCAP playback, dockview, transport |
+| `test_pose.mcap` | PoseStamped sidebar topics |
+| `test_3cam.mcap` | Three-camera image grid layout |
+| `test_h264.mcap` | H.264 CompressedImage decode |
+| `test_minimal.hdf5` | ALOHA-schema HDF5 (~7 KB) |
+| `test_minimal.bvh` | Minimal BVH skeleton |
+
+Vitest layout round-trip tests import JSON directly from `test-fixtures/layouts/`.
 
 For sample deep links (`?url=sample://…`), set `VITE_SAMPLE_DATASETS_MANIFEST_URL` in `.env` to a reachable JSON manifest (see `src/services/sampleDatasets.ts`).
 
@@ -62,7 +62,7 @@ Prefer main-thread rendering and subscription tuning before MCAP-parse WASM. Con
 **Prerequisites**
 
 1. `npm install` and (first time) `npx playwright install`.
-2. Put `test_5s.mcap` under `public/examples/` or set `ROSVIEW_TEST_MCAP`.
+2. `npm run gen:e2e:fixtures` (also runs automatically before `test:e2e`).
 3. `npm run dev` → `http://localhost:5173`.
 
 **Playwright**
@@ -80,4 +80,4 @@ npm run test:e2e
 3. Switch to **Data** if multiple sources are present; the successfully loaded row is highlighted.
 4. Open `/`, upload or drag a local `.mcap`; confirm load succeeds.
 
-If no local sample is available, smoke-test routing and sidebar shell only; full Range behavior needs same-origin static assets and correct CORS/Range headers.
+Full E2E coverage requires `npm run gen:e2e:fixtures` so `public/examples/` is populated; no files outside the repo are needed.
diff --git a/index.html b/index.html
index c81c1f1..55df9d2 100644
--- a/index.html
+++ b/index.html
@@ -18,16 +18,16 @@
     <meta name="robots" content="index, follow, max-image-preview:large, max-snippet:-1, max-video-preview:-1" />
     <meta name="author" content="IO-AI Tech — ROSView" />
 
-    <link rel="alternate" hreflang="en" href="https://io-ai.tech/rosview/?lang=en" />
-    <link rel="alternate" hreflang="zh-CN" href="https://io-ai.tech/rosview/?lang=zh-CN" />
-    <link rel="alternate" hreflang="ja" href="https://io-ai.tech/rosview/?lang=ja" />
-    <link rel="alternate" hreflang="x-default" href="https://io-ai.tech/rosview/?lang=en" />
+    <link rel="alternate" hreflang="en" href="https://rosview.com/?lang=en" />
+    <link rel="alternate" hreflang="zh-CN" href="https://rosview.com/?lang=zh-CN" />
+    <link rel="alternate" hreflang="ja" href="https://rosview.com/?lang=ja" />
+    <link rel="alternate" hreflang="x-default" href="https://rosview.com/?lang=en" />
 
-    <link rel="canonical" href="https://io-ai.tech/rosview/?lang=en" />
+    <link rel="canonical" href="https://rosview.com/?lang=en" />
 
     <meta property="og:type" content="website" />
     <meta property="og:site_name" content="ROSView" />
-    <meta property="og:url" content="https://io-ai.tech/rosview/?lang=en" />
+    <meta property="og:url" content="https://rosview.com/?lang=en" />
     <meta
       property="og:title"
       content="ROSView — MCAP, ROS bag, ROS 2 db3, HDF5 &amp; BVH visualization in the browser"
@@ -39,7 +39,7 @@
     <meta property="og:locale" content="en_US" />
     <meta property="og:locale:alternate" content="zh_CN" />
     <meta property="og:locale:alternate" content="ja_JP" />
-    <meta property="og:image" content="https://io-ai.tech/rosview/og-image.png" />
+    <meta property="og:image" content="https://rosview.com/og-image.png" />
     <meta property="og:image:width" content="1200" />
     <meta property="og:image:height" content="630" />
     <meta
@@ -48,7 +48,7 @@
     />
 
     <meta name="twitter:card" content="summary_large_image" />
-    <meta name="twitter:image" content="https://io-ai.tech/rosview/og-image.png" />
+    <meta name="twitter:image" content="https://rosview.com/og-image.png" />
     <meta
       name="twitter:title"
       content="ROSView — MCAP, ROS bag, ROS 2 db3, HDF5 &amp; BVH visualization in the browser"
@@ -63,7 +63,7 @@
         "@context": "https://schema.org",
         "@type": "WebApplication",
         "name": "ROSView",
-        "url": "https://io-ai.tech/rosview/?lang=en",
+        "url": "https://rosview.com/?lang=en",
         "applicationCategory": "DeveloperApplication",
         "operatingSystem": "Any",
         "browserRequirements": "Requires JavaScript. Modern evergreen browser recommended.",
@@ -79,8 +79,8 @@
     </script>
     <script>
       (function () {
-        var SEO_ORIGIN = 'https://io-ai.tech';
-        var SEO_PATH = '/rosview/';
+        var SEO_ORIGIN = 'https://rosview.com';
+        var SEO_PATH = '/';
         var SEO_BASE = SEO_ORIGIN + SEO_PATH;
         var OG_IMAGE = SEO_BASE + 'og-image.png';
 
diff --git a/package-lock.json b/package-lock.json
index a1311e4..f390f74 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "@ioai/rosview",
-  "version": "1.3.1",
+  "version": "1.3.2",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "@ioai/rosview",
-      "version": "1.3.1",
+      "version": "1.3.2",
       "license": "MIT",
       "devDependencies": {
         "@eslint/js": "^9.39.4",
@@ -19,7 +19,7 @@
         "@foxglove/rosmsg": "^5.0.5",
         "@foxglove/rosmsg-serialization": "^2.0.4",
         "@foxglove/rosmsg2-serialization": "^3.0.3",
-        "@ioai/hdf5": "^0.1.4",
+        "@ioai/hdf5": "^1.0.0",
         "@mcap/core": "^2.0.2",
         "@playwright/test": "^1.59.1",
         "@radix-ui/react-collapsible": "^1.1.12",
@@ -1310,9 +1310,9 @@
       }
     },
     "node_modules/@ioai/hdf5": {
-      "version": "0.1.5",
-      "resolved": "https://registry.npmjs.org/@ioai/hdf5/-/hdf5-0.1.5.tgz",
-      "integrity": "sha512-InS+C/o/QfZmol0Z1Z9HW9OQvew6M7adaAXKjGQFZ+p0fjjd92FIVgg5GLp6q5OliSBSS01xwbUx0TMslltSEg==",
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/@ioai/hdf5/-/hdf5-1.0.0.tgz",
+      "integrity": "sha512-eOLyKhkoT6KGqRNPYSkMX6UKg2rRlQXkFWN7aUrnXrizpYl733n1Le61Dyp9KzvU8f1cRqAHVjMEvEiDgfl7jw==",
       "dev": true,
       "license": "MIT",
       "engines": {
diff --git a/package.json b/package.json
index b6fcd31..3237f14 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@ioai/rosview",
-  "version": "1.3.1",
+  "version": "1.3.2",
   "description": "High-performance robotics data visualization for MCAP, ROS bag, ROS2 db3, HDF5 and BVH — embeddable React component and standalone SPA",
   "keywords": [
     "ros",
@@ -63,7 +63,7 @@
     "lint": "eslint \"src/**/*.{ts,tsx}\" \"tests/**/*.ts\"",
     "test": "vitest run",
     "preview": "npm run build && vite preview",
-    "gen:e2e:fixtures": "node scripts/gen-test-mcap.mjs",
+    "gen:e2e:fixtures": "node scripts/gen-e2e-fixtures.mjs",
     "pretest:e2e": "npm run gen:e2e:fixtures",
     "test:e2e": "playwright test"
   },
@@ -96,7 +96,7 @@
     "@foxglove/rosmsg": "^5.0.5",
     "@foxglove/rosmsg-serialization": "^2.0.4",
     "@foxglove/rosmsg2-serialization": "^3.0.3",
-    "@ioai/hdf5": "^0.1.4",
+    "@ioai/hdf5": "^1.0.0",
     "@mcap/core": "^2.0.2",
     "@playwright/test": "^1.59.1",
     "@radix-ui/react-collapsible": "^1.1.12",
diff --git a/scripts/gen-e2e-fixtures.mjs b/scripts/gen-e2e-fixtures.mjs
new file mode 100644
index 0000000..309ecde
--- /dev/null
+++ b/scripts/gen-e2e-fixtures.mjs
@@ -0,0 +1,35 @@
+/**
+ * Generate all Playwright E2E fixtures into public/examples/.
+ */
+import { spawnSync } from 'node:child_process';
+import path from 'node:path';
+import { fileURLToPath } from 'node:url';
+
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
+
+/** @param {string} script */
+function runNode(script) {
+  const scriptPath = path.join(__dirname, script);
+  const result = spawnSync(process.execPath, [scriptPath], { stdio: 'inherit' });
+  if (result.status !== 0) {
+    process.exit(result.status ?? 1);
+  }
+}
+
+/** @param {string} script */
+function runPython(script) {
+  const scriptPath = path.join(__dirname, script);
+  const result = spawnSync('python3', [scriptPath], { stdio: 'inherit' });
+  if (result.status !== 0) {
+    process.exit(result.status ?? 1);
+  }
+}
+
+runNode('gen-test-mcap.mjs');
+runNode('gen-test-mcap-pose.mjs');
+runNode('gen-test-mcap-3cam.mjs');
+runNode('gen-test-mcap-h264.mjs');
+runPython('gen-test-hdf5.py');
+runNode('gen-test-bvh.mjs');
+
+console.log('[gen-e2e-fixtures] all fixtures ready');
diff --git a/scripts/gen-test-bvh.mjs b/scripts/gen-test-bvh.mjs
new file mode 100644
index 0000000..5c497b9
--- /dev/null
+++ b/scripts/gen-test-bvh.mjs
@@ -0,0 +1,12 @@
+/**
+ * Copy minimal BVH fixture into public/examples/ for E2E.
+ */
+import fs from 'node:fs';
+import path from 'node:path';
+import { FIXTURES_DIR, EXAMPLES_DIR } from './mcap-fixture-utils.mjs';
+
+const src = path.join(FIXTURES_DIR, 'media/minimal.bvh');
+const dest = path.join(EXAMPLES_DIR, 'test_minimal.bvh');
+fs.mkdirSync(EXAMPLES_DIR, { recursive: true });
+fs.copyFileSync(src, dest);
+console.log('Wrote', dest, `(${fs.statSync(dest).size} bytes)`);
diff --git a/scripts/gen-test-hdf5.py b/scripts/gen-test-hdf5.py
new file mode 100644
index 0000000..54f8d4f
--- /dev/null
+++ b/scripts/gen-test-hdf5.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+"""Generate or copy minimal ALOHA-schema HDF5 fixture into public/examples/."""
+from __future__ import annotations
+
+import shutil
+import sys
+from pathlib import Path
+
+try:
+    import h5py
+    import numpy as np
+except ImportError:
+    h5py = None  # type: ignore
+    np = None  # type: ignore
+
+ROOT = Path(__file__).resolve().parent.parent
+FIXTURE_SRC = ROOT / 'test-fixtures' / 'media' / 'minimal-aloha.h5'
+OUT = ROOT / 'public' / 'examples' / 'test_minimal.hdf5'
+
+
+def generate() -> None:
+    assert h5py is not None and np is not None
+    n, k, h, w, c = 4, 3, 2, 2, 3
+    FIXTURE_SRC.parent.mkdir(parents=True, exist_ok=True)
+    with h5py.File(FIXTURE_SRC, 'w') as h5:
+        h5.create_dataset('/action', data=np.arange(n * k, dtype=np.float32).reshape(n, k))
+        h5.create_dataset('/observations/qpos', data=(np.arange(n * k, dtype=np.float32).reshape(n, k) * 2))
+        h5.create_dataset('/observations/qvel', data=np.zeros((n, k), dtype=np.float32))
+        h5.create_dataset('/observations/tau_J', data=np.zeros((n, k), dtype=np.float32))
+        h5.create_dataset('/observations/ee_pos_t', data=np.zeros((n, 3), dtype=np.float32))
+        h5.create_dataset(
+            '/observations/ee_pos_q',
+            data=np.tile([0, 0, 0, 1], (n, 1)).astype(np.float32),
+        )
+        h5.create_dataset(
+            '/observations/images/ext1',
+            data=np.arange(n * h * w * c, dtype=np.uint8).reshape(n, h, w, c),
+        )
+        h5.create_dataset('/tm', data=np.full((n, 1), 0.125, dtype=np.float32))
+    print(f'Generated {FIXTURE_SRC} ({FIXTURE_SRC.stat().st_size} bytes)')
+
+
+def main() -> int:
+    if not FIXTURE_SRC.exists():
+        if h5py is None:
+            print('h5py not installed and committed fixture missing', file=sys.stderr)
+            return 1
+        generate()
+    OUT.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(FIXTURE_SRC, OUT)
+    print(f'Wrote {OUT} ({OUT.stat().st_size} bytes)')
+    return 0
+
+
+if __name__ == '__main__':
+    raise SystemExit(main())
diff --git a/scripts/gen-test-mcap-3cam.mjs b/scripts/gen-test-mcap-3cam.mjs
new file mode 100644
index 0000000..bfdec88
--- /dev/null
+++ b/scripts/gen-test-mcap-3cam.mjs
@@ -0,0 +1,42 @@
+/**
+ * Minimal MCAP with three compressed JPEG camera topics for ros-image-grid E2E.
+ */
+import {
+  createIndexedMcapWriter,
+  encodeCompressedImageCdr,
+  readFixture,
+  registerCompressedImageChannel,
+  writeExample,
+} from './mcap-fixture-utils.mjs';
+
+const jpegBytes = readFixture('media/jpeg-1x1.bin');
+
+const { writer, writable } = await createIndexedMcapWriter();
+
+const topics = [
+  '/camera/left/color/image_raw/compressed',
+  '/camera/top/color/image_raw/compressed',
+  '/camera/right/color/image_raw/compressed',
+];
+
+const channelIds = [];
+for (const topic of topics) {
+  channelIds.push(await registerCompressedImageChannel(topic, writer));
+}
+
+const messageTimes = [1_000_000_000n, 3_000_000_000n, 5_000_000_000n];
+for (const [idx, ts] of messageTimes.entries()) {
+  const stamp = { sec: Number(ts / 1_000_000_000n), nsec: Number(ts % 1_000_000_000n) };
+  for (const channelId of channelIds) {
+    await writer.addMessage({
+      channelId,
+      sequence: idx + 1,
+      logTime: ts,
+      publishTime: ts,
+      data: encodeCompressedImageCdr(stamp, 'jpeg', jpegBytes),
+    });
+  }
+}
+
+await writer.end();
+writeExample('test_3cam.mcap', writable.getBuffer());
diff --git a/scripts/gen-test-mcap-h264.mjs b/scripts/gen-test-mcap-h264.mjs
new file mode 100644
index 0000000..b927a80
--- /dev/null
+++ b/scripts/gen-test-mcap-h264.mjs
@@ -0,0 +1,43 @@
+/**
+ * Minimal MCAP with H.264 CompressedImage messages for image-h264 E2E.
+ */
+import {
+  createIndexedMcapWriter,
+  encodeCompressedImageCdr,
+  readFixture,
+  registerCompressedImageChannel,
+  writeExample,
+} from './mcap-fixture-utils.mjs';
+
+const keyBytes = readFixture('media/h264-key.bin');
+const deltaBytes = readFixture('media/h264-delta.bin');
+
+const { writer, writable } = await createIndexedMcapWriter();
+
+const channelId = await registerCompressedImageChannel(
+  '/camera/head/color/image_raw/compressed',
+  writer,
+);
+
+const frames = [
+  { ts: 1_000_000_000n, data: keyBytes },
+  { ts: 1_100_000_000n, data: deltaBytes },
+  { ts: 1_200_000_000n, data: deltaBytes },
+  { ts: 3_000_000_000n, data: keyBytes },
+  { ts: 3_100_000_000n, data: deltaBytes },
+  { ts: 5_000_000_000n, data: keyBytes },
+];
+
+for (const [idx, { ts, data }] of frames.entries()) {
+  const stamp = { sec: Number(ts / 1_000_000_000n), nsec: Number(ts % 1_000_000_000n) };
+  await writer.addMessage({
+    channelId,
+    sequence: idx + 1,
+    logTime: ts,
+    publishTime: ts,
+    data: encodeCompressedImageCdr(stamp, 'h264', data),
+  });
+}
+
+await writer.end();
+writeExample('test_h264.mcap', writable.getBuffer());
diff --git a/scripts/gen-test-mcap-pose.mjs b/scripts/gen-test-mcap-pose.mjs
new file mode 100644
index 0000000..5df7b96
--- /dev/null
+++ b/scripts/gen-test-mcap-pose.mjs
@@ -0,0 +1,55 @@
+/**
+ * Minimal MCAP with PoseStamped topics for pose-panel E2E.
+ */
+import {
+  createIndexedMcapWriter,
+  writeExample,
+} from './mcap-fixture-utils.mjs';
+
+const { writer, writable } = await createIndexedMcapWriter();
+
+const schemaId = await writer.registerSchema({
+  name: 'geometry_msgs/msg/PoseStamped',
+  encoding: 'jsonschema',
+  data: new TextEncoder().encode('{"type":"object"}'),
+});
+
+const topics = ['/io/pose/Left_Gripper', '/io/pose/Right_Gripper'];
+const channelIds = [];
+for (const topic of topics) {
+  channelIds.push(
+    await writer.registerChannel({
+      schemaId,
+      topic,
+      messageEncoding: 'json',
+      metadata: new Map(),
+    }),
+  );
+}
+
+const messageTimes = [1_000_000_000n, 3_000_000_000n, 5_000_000_000n];
+for (const [idx, ts] of messageTimes.entries()) {
+  for (const [topicIdx, channelId] of channelIds.entries()) {
+    await writer.addMessage({
+      channelId,
+      sequence: idx + 1,
+      logTime: ts,
+      publishTime: ts,
+      data: new TextEncoder().encode(
+        JSON.stringify({
+          header: {
+            stamp: { sec: Number(ts / 1_000_000_000n), nanosec: Number(ts % 1_000_000_000n) },
+            frame_id: 'world',
+          },
+          pose: {
+            position: { x: topicIdx + idx * 0.1, y: 0, z: 0 },
+            orientation: { x: 0, y: 0, z: 0, w: 1 },
+          },
+        }),
+      ),
+    });
+  }
+}
+
+await writer.end();
+writeExample('test_pose.mcap', writable.getBuffer());
diff --git a/scripts/mcap-fixture-utils.mjs b/scripts/mcap-fixture-utils.mjs
new file mode 100644
index 0000000..095a7ec
--- /dev/null
+++ b/scripts/mcap-fixture-utils.mjs
@@ -0,0 +1,132 @@
+import { McapWriter } from '@mcap/core';
+import { MessageWriter } from '@foxglove/rosmsg2-serialization';
+import { parse as parseMessageDefinition } from '@foxglove/rosmsg';
+import fs from 'node:fs';
+import path from 'node:path';
+import { fileURLToPath } from 'node:url';
+
+export const __mcapUtilsDir = path.dirname(fileURLToPath(import.meta.url));
+export const REPO_ROOT = path.join(__mcapUtilsDir, '..');
+export const FIXTURES_DIR = path.join(REPO_ROOT, 'test-fixtures');
+export const EXAMPLES_DIR = path.join(REPO_ROOT, 'public/examples');
+
+export class BufferWritable {
+  /** @type {Buffer[]} */
+  #chunks = [];
+  /** @type {bigint} */
+  #pos = 0n;
+
+  position() {
+    return this.#pos;
+  }
+
+  /** @param {Uint8Array} buffer */
+  write(buffer) {
+    const b = Buffer.from(buffer);
+    this.#chunks.push(b);
+    this.#pos += BigInt(b.byteLength);
+    return Promise.resolve();
+  }
+
+  getBuffer() {
+    return Buffer.concat(this.#chunks);
+  }
+}
+
+/** @returns {Promise<{ writer: McapWriter, writable: BufferWritable }>} */
+export async function createIndexedMcapWriter() {
+  const writable = new BufferWritable();
+  const writer = new McapWriter({
+    writable,
+    useStatistics: true,
+    useChunks: true,
+    useChunkIndex: true,
+  });
+  await writer.start({ profile: 'ros2', library: 'rosview-gen' });
+  return { writer, writable };
+}
+
+/**
+ * @param {string} filename
+ * @param {Buffer} buffer
+ */
+export function writeExample(filename, buffer) {
+  fs.mkdirSync(EXAMPLES_DIR, { recursive: true });
+  const outPath = path.join(EXAMPLES_DIR, filename);
+  fs.writeFileSync(outPath, buffer);
+  console.log('Wrote', outPath, `(${buffer.length} bytes)`);
+}
+
+/**
+ * @param {string} relPath under test-fixtures/
+ * @returns {Buffer}
+ */
+export function readFixture(relPath) {
+  return fs.readFileSync(path.join(FIXTURES_DIR, relPath));
+}
+
+const COMPRESSED_IMAGE_SCHEMA = `# sensor_msgs/msg/CompressedImage
+std_msgs/Header header
+string format
+uint8[] data
+
+================================================================================
+MSG: std_msgs/Header
+builtin_interfaces/Time stamp
+string frame_id
+
+================================================================================
+MSG: builtin_interfaces/Time
+int32 sec
+uint32 nanosec
+`;
+
+/** @type {ReturnType<typeof parseMessageDefinition> | undefined} */
+let compressedImageDefs;
+/** @type {MessageWriter | undefined} */
+let compressedImageWriter;
+
+function getCompressedImageWriter() {
+  if (!compressedImageWriter) {
+    compressedImageDefs = parseMessageDefinition(COMPRESSED_IMAGE_SCHEMA, { ros2: true });
+    compressedImageWriter = new MessageWriter(compressedImageDefs);
+  }
+  return compressedImageWriter;
+}
+
+export function getCompressedImageSchemaBytes() {
+  return new TextEncoder().encode(COMPRESSED_IMAGE_SCHEMA);
+}
+
+/**
+ * @param {{ sec: number, nsec: number }} stamp
+ * @param {string} format
+ * @param {Buffer | Uint8Array} data
+ */
+export function encodeCompressedImageCdr(stamp, format, data) {
+  const writer = getCompressedImageWriter();
+  return writer.writeMessage({
+    header: { stamp, frame_id: 'camera' },
+    format,
+    data,
+  });
+}
+
+/**
+ * @param {string} topic
+ * @param {Awaited<ReturnType<typeof createIndexedMcapWriter>>['writer']} writer
+ */
+export async function registerCompressedImageChannel(topic, writer) {
+  const schemaId = await writer.registerSchema({
+    name: 'sensor_msgs/msg/CompressedImage',
+    encoding: 'ros2msg',
+    data: getCompressedImageSchemaBytes(),
+  });
+  const channelId = await writer.registerChannel({
+    schemaId,
+    topic,
+    messageEncoding: 'cdr',
+    metadata: new Map(),
+  });
+  return channelId;
+}
diff --git a/src/core/preferences/foxgloveLayout.test.ts b/src/core/preferences/foxgloveLayout.test.ts
index 02f6c1d..20bd2d7 100644
--- a/src/core/preferences/foxgloveLayout.test.ts
+++ b/src/core/preferences/foxgloveLayout.test.ts
@@ -1,7 +1,6 @@
 import { describe, expect, it } from 'vitest';
-import { readFileSync } from 'node:fs';
-import { homedir } from 'node:os';
-import { join } from 'node:path';
+import agibotLikeRaw from '../../../test-fixtures/layouts/agibot-like.json';
+import multiCanvasRaw from '../../../test-fixtures/layouts/multi-canvas.json';
 import {
   buildFoxgloveLayout,
   collectMosaicPanelIds,
@@ -14,25 +13,25 @@ import {
 } from './foxgloveLayout';
 
 /**
- * These tests load the real Foxglove layout samples the user attached. Each
- * sample is walked through import -> export and we verify that:
+ * Committed Foxglove layout fixtures (test-fixtures/layouts/). Each sample is
+ * walked through import -> export and we verify that:
  * - Panel ids and topology survive the round-trip.
  * - Unknown panel config fields (e.g. 3D.cameraState) are preserved verbatim
  *   in the re-exported `configById` via the per-panel extras.
  * - Canvas ids round-trip back to Canvas type (not Image).
  */
 
-function readSampleIfPresent(filename: string): FoxgloveLayoutData | null {
-  const path = join(homedir(), 'Downloads', filename);
-  try {
-    const raw = readFileSync(path, 'utf8');
-    const parsed = parseFoxgloveLayout(JSON.parse(raw));
-    return parsed;
-  } catch {
-    return null;
+function parseFixture(raw: unknown): FoxgloveLayoutData {
+  const parsed = parseFoxgloveLayout(raw);
+  if (parsed == null) {
+    throw new Error('Invalid layout fixture');
   }
+  return parsed;
 }
 
+const sampleAgibot = parseFixture(agibotLikeRaw);
+const sampleStudio = parseFixture(multiCanvasRaw);
+
 function getAllMosaicLeaves(node: FoxgloveMosaicNode): string[] {
   return collectMosaicPanelIds(node);
 }
@@ -324,14 +323,9 @@ describe('3D extras round-trip (preserve unknown fields)', () => {
   });
 });
 
-// ---------- Real sample files (skipped when not present in ~/Downloads) ----------
-
-const sampleAgibot = readSampleIfPresent('studio-layout-agibot.json');
-const sampleStudio = readSampleIfPresent('studio_layout__.json');
-
-describe('real Foxglove samples round-trip', () => {
-  it.skipIf(sampleAgibot == null)('studio-layout-agibot.json import preserves all panels', () => {
-    const layout = sampleAgibot!;
+describe('committed Foxglove layout fixtures round-trip', () => {
+  it('agibot-like layout import preserves all panels', () => {
+    const layout = sampleAgibot;
     const ids = collectMosaicPanelIds(layout.layout);
     const imported = importFoxgloveLayout(layout);
     expect(imported.restored).toBe(ids.length);
@@ -341,8 +335,8 @@ describe('real Foxglove samples round-trip', () => {
     expect(imported.dockviewState).toBeDefined();
   });
 
-  it.skipIf(sampleAgibot == null)('studio-layout-agibot.json export keeps Canvas.topicPath and 3D extras', () => {
-    const layout = sampleAgibot!;
+  it('agibot-like layout export keeps Canvas.topicPath and 3D extras', () => {
+    const layout = sampleAgibot;
     const imported = importFoxgloveLayout(layout);
     // Build a synthetic apiState where every panel lives in its own leaf
     // (the real runtime goes through DockView first, but for export logic
@@ -372,8 +366,8 @@ describe('real Foxglove samples round-trip', () => {
     expect(exported.globalVariables).toEqual(layout.globalVariables);
   });
 
-  it.skipIf(sampleStudio == null)('studio_layout__.json import+export round-trip keeps configById keys', () => {
-    const layout = sampleStudio!;
+  it('multi-canvas layout import+export round-trip keeps configById keys', () => {
+    const layout = sampleStudio;
     const imported = importFoxgloveLayout(layout);
     const apiState = buildApiStateFromMosaic(layout.layout!, imported.panelStates);
     const exported = buildFoxgloveLayout({
diff --git a/src/features/viewer/RosViewerImpl.tsx b/src/features/viewer/RosViewerImpl.tsx
index 41b20e5..e07ae5c 100644
--- a/src/features/viewer/RosViewerImpl.tsx
+++ b/src/features/viewer/RosViewerImpl.tsx
@@ -66,8 +66,10 @@ import { RosViewerLayoutProvider } from './RosViewerLayoutContext';
 import type { RosViewExtension } from '@/core/extensions/types';
 import { toast } from 'sonner';
 import sqlWasmUrl from 'sql.js/dist/sql-wasm.wasm?url';
+import hdf5WasmUrl from '@ioai/hdf5/wasm/ioai_hdf5.wasm?url';
 
 let sqlWasmBinaryPromise: Promise<ArrayBuffer> | null = null;
+let hdf5WasmBinaryPromise: Promise<ArrayBuffer> | null = null;
 
 async function loadSqlWasmBinary(): Promise<ArrayBuffer> {
   sqlWasmBinaryPromise ??= fetch(sqlWasmUrl).then((response) => {
@@ -79,6 +81,16 @@ async function loadSqlWasmBinary(): Promise<ArrayBuffer> {
   return await sqlWasmBinaryPromise;
 }
 
+async function loadHdf5WasmBinary(): Promise<ArrayBuffer> {
+  hdf5WasmBinaryPromise ??= fetch(hdf5WasmUrl).then((response) => {
+    if (!response.ok) {
+      throw new Error(`Failed to load HDF5 wasm: HTTP ${response.status}`);
+    }
+    return response.arrayBuffer();
+  });
+  return await hdf5WasmBinaryPromise;
+}
+
 function extensionForDataset(ds: DatasetItem): string | undefined {
   if (ds.kind === 'file' && ds.file) {
     return ds.file.name.split('.').pop()?.toLowerCase();
@@ -124,6 +136,7 @@ async function initializePlayerForDataset(
   const workerPerf =
     typeof window !== 'undefined' && new URLSearchParams(window.location.search).get('workerPerf') === '1';
   const sqlWasmBinary = ext === 'db3' ? await loadSqlWasmBinary() : undefined;
+  const hdf5WasmBinary = ext === 'hdf5' || ext === 'h5' ? await loadHdf5WasmBinary() : undefined;
   if (ds.kind === 'url' && ds.url) {
     const init: Record<string, unknown> = {
       url: resolveBrowserHttpUrl(ds.url),
@@ -133,6 +146,9 @@ async function initializePlayerForDataset(
     if (ext === 'db3') {
       init.sqlWasmBinary = sqlWasmBinary;
     }
+    if (hdf5WasmBinary) {
+      init.hdf5WasmBinary = hdf5WasmBinary;
+    }
     if (
       typeof ds.sizeBytes === 'number' &&
       Number.isFinite(ds.sizeBytes) &&
@@ -155,7 +171,12 @@ async function initializePlayerForDataset(
         ...(sqlWasmBinary ? { sqlWasmBinary } : {}),
       });
     } else {
-      await player.initialize({ file: ds.file, workerPerf, autoDataQualityScan });
+      await player.initialize({
+        file: ds.file,
+        workerPerf,
+        autoDataQualityScan,
+        ...(hdf5WasmBinary ? { hdf5WasmBinary } : {}),
+      });
     }
     return;
   }
diff --git a/src/infra/sources/hdf5/H5FileSystem.ts b/src/infra/sources/hdf5/H5FileSystem.ts
index 2c151e2..503152f 100644
--- a/src/infra/sources/hdf5/H5FileSystem.ts
+++ b/src/infra/sources/hdf5/H5FileSystem.ts
@@ -2,7 +2,7 @@
  * Bridges between our data source inputs (Blob / URL) and the Emscripten
  * in-memory filesystem that the `@ioai/hdf5` Emscripten module exposes.
  *
- * Runs exclusively inside the Worker, after `import('@ioai/hdf5').default.ready`.
+ * Runs exclusively inside the Worker, after `initHdf5()` has initialized the runtime.
  *
  * - Local file (Blob): loaded fully into a Uint8Array and written to MEMFS.
  *   Simple, self-contained, and avoids the restrictions of lazy files.
@@ -84,6 +84,30 @@ export async function mountUrlAsLazyFile(
     try { h5.FS.unlink(path); } catch { /* best effort */ }
   }
 
+  // Small same-origin files are eager-fetched into MEMFS. Emscripten lazy URLs
+  // can fail in module workers, and tiny fixtures do not benefit from range IO.
+  try {
+    const headRes = await fetch(url, { method: 'HEAD' });
+    const len = Number(headRes.headers.get('content-length') ?? 0);
+    if (headRes.ok && len > 0 && len <= 32 * 1024 * 1024) {
+      const res = await fetch(url);
+      if (res.ok) {
+        const buf = new Uint8Array(await res.arrayBuffer());
+        h5.FS.writeFile(path, buf);
+        return {
+          path,
+          totalBytes: buf.byteLength,
+          lazy: false,
+          dispose: () => {
+            try { h5.FS.unlink(path); } catch { /* ignore */ }
+          },
+        };
+      }
+    }
+  } catch {
+    // Fall through to lazy mount for large or remote files.
+  }
+
   let totalBytes = 0;
   try {
     const headRes = await fetch(url, { method: 'HEAD' });
diff --git a/src/infra/workers/hdf5.worker.ts b/src/infra/workers/hdf5.worker.ts
index a63618f..a0ba3ff 100644
--- a/src/infra/workers/hdf5.worker.ts
+++ b/src/infra/workers/hdf5.worker.ts
@@ -1,4 +1,5 @@
 import * as Comlink from 'comlink';
+import { loadHdf5Runtime, openHdf5File } from './hdf5RuntimeLoader';
 import type { Initialization } from '@/core/types/ros';
 import type {
   GetAdjacentMessageArgs,
@@ -29,10 +30,17 @@ class Hdf5WorkerImpl implements IWorkerSerializedSourceWorker {
   };
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: { url?: string; file?: Blob; autoDataQualityScan?: boolean }): Promise<Initialization> {
-    const h5mod = (await import('@ioai/hdf5')).default;
-    await h5mod.ready;
-    const h5 = h5mod as unknown as Parameters<typeof mountBlobAsFile>[0];
+  async initialize(args: {
+    url?: string;
+    file?: Blob;
+    autoDataQualityScan?: boolean;
+    hdf5WasmBinary?: ArrayBuffer;
+  }): Promise<Initialization> {
+    if (!args.hdf5WasmBinary) {
+      throw new Error('Hdf5Worker: hdf5WasmBinary required (pass wasm bytes from main thread for inline workers)');
+    }
+    const runtime = await loadHdf5Runtime(args.hdf5WasmBinary);
+    const h5 = { FS: runtime.module.FS, ready: Promise.resolve(runtime.module) };
 
     if (args.file) {
       const name = (args.file as File).name ?? 'upload.h5';
@@ -43,9 +51,8 @@ class Hdf5WorkerImpl implements IWorkerSerializedSourceWorker {
       throw new Error('Hdf5Worker: neither url nor file provided');
     }
 
-    const File = (h5mod as unknown as { File: new (path: string, mode: string) => unknown }).File;
     try {
-      this._h5file = new File(this._mounted.path, 'r') as typeof this._h5file;
+      this._h5file = openHdf5File(runtime, this._mounted.path, 'r');
     } catch (err) {
       console.error('[Hdf5Worker] failed to open HDF5 file', err);
       throw err;
diff --git a/src/infra/workers/hdf5RuntimeLoader.ts b/src/infra/workers/hdf5RuntimeLoader.ts
new file mode 100644
index 0000000..d4bc5cf
--- /dev/null
+++ b/src/infra/workers/hdf5RuntimeLoader.ts
@@ -0,0 +1,20 @@
+import { Hdf5File, initHdf5, type Hdf5Runtime } from '@ioai/hdf5';
+
+let runtimePromise: Promise<Hdf5Runtime> | undefined;
+
+/**
+ * Load @ioai/hdf5 for inline (`?worker&inline`) workers.
+ *
+ * Inline workers run from a blob: URL, so the main thread passes preloaded wasm
+ * bytes and lets @ioai/hdf5 initialize through its public API.
+ */
+export function loadHdf5Runtime(wasmBinary: ArrayBuffer): Promise<Hdf5Runtime> {
+  if (!runtimePromise) {
+    runtimePromise = initHdf5({ wasmBinary });
+  }
+  return runtimePromise;
+}
+
+export function openHdf5File(runtime: Hdf5Runtime, memfsPath: string, mode: 'r' | 'a' | 'w' = 'r') {
+  return new Hdf5File(runtime, memfsPath, mode);
+}
diff --git a/src/shared/utils/resolveWorkerHttpUrl.ts b/src/shared/utils/resolveWorkerHttpUrl.ts
index 84e7975..9e1a58a 100644
--- a/src/shared/utils/resolveWorkerHttpUrl.ts
+++ b/src/shared/utils/resolveWorkerHttpUrl.ts
@@ -1,12 +1,16 @@
 /**
- * Resolve URL for fetch() inside a Web Worker.
- * Root-relative paths must use the document origin (`self.origin`), not the worker script URL.
+ * Resolve URL for fetch() / dynamic import() inside a Web Worker.
+ * Root-relative and build-relative asset paths must use the document origin
+ * (`self.location.href`), not the inline worker blob URL.
  */
 export function resolveWorkerHttpUrl(url: string): string {
   if (/^https?:\/\//i.test(url)) {
     return url;
   }
-  if (url.startsWith("/") && typeof self !== "undefined" && self.origin) {
+  if (typeof self !== 'undefined' && 'location' in self && self.location?.href) {
+    return new URL(url, self.location.href).href;
+  }
+  if (url.startsWith('/') && typeof self !== 'undefined' && self.origin) {
     return new URL(url, self.origin).href;
   }
   return url;
diff --git a/test-fixtures/layouts/agibot-like.json b/test-fixtures/layouts/agibot-like.json
new file mode 100644
index 0000000..3a378ae
--- /dev/null
+++ b/test-fixtures/layouts/agibot-like.json
@@ -0,0 +1,97 @@
+{
+  "configById": {
+    "Canvas!2w1xadt": {
+      "topicPath": "/rgbd/color/image_raw/compressed"
+    },
+    "3D!ekxxpf": {
+      "cameraState": {
+        "perspective": true,
+        "distance": 3.6805182047087133,
+        "phi": 65.10050734527103,
+        "thetaOffset": -89.72957057540752,
+        "targetOffset": [
+          0.21154086089697233,
+          0.04711358421081375,
+          7.50736472891447e-17
+        ],
+        "target": [0, 0, 0],
+        "targetOrientation": [0, 0, 0, 1],
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {
+        "transforms": {
+          "lineWidth": 0,
+          "axisScale": 0,
+          "showLabel": false,
+          "editable": false,
+          "enablePreloading": true
+        },
+        "meshUpAxis": "y_up"
+      },
+      "transforms": {},
+      "topics": {},
+      "layers": {
+        "8dcd6292-44f3-4daf-be37-d573a500d0e4": {
+          "visible": true,
+          "frameLocked": true,
+          "label": "URDF",
+          "instanceId": "8dcd6292-44f3-4daf-be37-d573a500d0e4",
+          "layerId": "foxglove.Urdf",
+          "sourceType": "topic",
+          "url": "",
+          "filePath": "",
+          "parameter": "",
+          "framePrefix": "",
+          "displayMode": "auto",
+          "fallbackColor": "#ffffff",
+          "order": 1,
+          "topic": "robot_description"
+        },
+        "12b90a4c-e452-4aad-96e7-feece560b0f5": {
+          "visible": true,
+          "frameLocked": true,
+          "label": "Grid",
+          "instanceId": "12b90a4c-e452-4aad-96e7-feece560b0f5",
+          "layerId": "foxglove.Grid",
+          "size": 10,
+          "divisions": 10,
+          "lineWidth": 1,
+          "color": "#248eff",
+          "position": [0, 0, 0],
+          "rotation": [0, 0, 0],
+          "order": 2
+        }
+      },
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {}
+    },
+    "Joints!1t4fh4t": {
+      "topicPath": "io_teleop/joint_states"
+    }
+  },
+  "globalVariables": {
+    "globalVariable": 0
+  },
+  "userNodes": {},
+  "layout": {
+    "first": {
+      "first": "Canvas!2w1xadt",
+      "second": "3D!ekxxpf",
+      "direction": "row"
+    },
+    "second": "Joints!1t4fh4t",
+    "direction": "column",
+    "splitPercentage": 56.470588235294116
+  }
+}
diff --git a/test-fixtures/layouts/multi-canvas.json b/test-fixtures/layouts/multi-canvas.json
new file mode 100644
index 0000000..4ea5526
--- /dev/null
+++ b/test-fixtures/layouts/multi-canvas.json
@@ -0,0 +1,117 @@
+{
+  "layout": {
+    "first": {
+      "first": "Canvas!162kif3",
+      "second": {
+        "first": "Canvas!2mccubl",
+        "second": {
+          "first": "Canvas!3lvfzbu",
+          "second": "Canvas!284oaci",
+          "direction": "row",
+          "splitPercentage": 50.06835269993164
+        },
+        "direction": "row",
+        "splitPercentage": 33.33333333333334
+      },
+      "direction": "row",
+      "splitPercentage": 24.95090613252539
+    },
+    "second": {
+      "first": {
+        "first": "3D!2ofx34",
+        "second": "Canvas!3a8p53p",
+        "direction": "row",
+        "splitPercentage": 49.87459887216873
+      },
+      "second": {
+        "first": "Canvas!19w6ich",
+        "second": "Canvas!1755x3g",
+        "direction": "row"
+      },
+      "direction": "row",
+      "splitPercentage": 50
+    },
+    "direction": "column",
+    "splitPercentage": 53.35029686174725
+  },
+  "userNodes": {},
+  "configById": {
+    "3D!2ofx34": {
+      "scene": {},
+      "layers": {
+        "122c4034-bdfd-4872-aa60-68a0df2747bc": {
+          "size": 10,
+          "color": "#248eff",
+          "label": "Grid",
+          "order": 1,
+          "layerId": "foxglove.Grid",
+          "visible": true,
+          "position": [0, 0, 0],
+          "rotation": [0, 0, 0],
+          "divisions": 10,
+          "lineWidth": 1,
+          "instanceId": "122c4034-bdfd-4872-aa60-68a0df2747bc",
+          "frameLocked": true
+        }
+      },
+      "topics": {
+        "/vo_traj": {
+          "visible": true,
+          "showOutlines": true
+        }
+      },
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {},
+      "followMode": "follow-pose",
+      "transforms": {},
+      "cameraState": {
+        "far": 5000,
+        "phi": 67.06205985915402,
+        "fovy": 45,
+        "near": 0.5,
+        "target": [0, 0, 0],
+        "distance": 1.131232547004857,
+        "perspective": true,
+        "thetaOffset": 1.181778169014167,
+        "targetOffset": [
+          0.04282398404725626,
+          0.1988218666116751,
+          -1.383210124033811e-18
+        ],
+        "targetOrientation": [0, 0, 0, 1]
+      }
+    },
+    "Canvas!162kif3": {
+      "topicPath": "/sensor/EgoCentric_Camera_0/image/compressed"
+    },
+    "Canvas!1755x3g": {
+      "topicPath": "/camera/depth"
+    },
+    "Canvas!19w6ich": {
+      "topicPath": "/ee_pose/vis/compressed"
+    },
+    "Canvas!284oaci": {
+      "topicPath": "/sensor/Right_Gripper_Camera_0/image/compressed"
+    },
+    "Canvas!2mccubl": {
+      "topicPath": "/sensor/EgoCentric_Camera_1/image/compressed"
+    },
+    "Canvas!3a8p53p": {
+      "topicPath": "/semantic_segmentation/EgoCentric_Camera_0/compressed"
+    },
+    "Canvas!3lvfzbu": {
+      "topicPath": "/sensor/Left_Wrist_Camera_0/image/compressed"
+    }
+  },
+  "globalVariables": {
+    "globalVariable": 0
+  }
+}
diff --git a/test-fixtures/media/h264-delta.bin b/test-fixtures/media/h264-delta.bin
new file mode 100644
index 0000000..f152541
Binary files /dev/null and b/test-fixtures/media/h264-delta.bin differ
diff --git a/test-fixtures/media/h264-key.bin b/test-fixtures/media/h264-key.bin
new file mode 100644
index 0000000..756e70c
Binary files /dev/null and b/test-fixtures/media/h264-key.bin differ
diff --git a/test-fixtures/media/jpeg-1x1.bin b/test-fixtures/media/jpeg-1x1.bin
new file mode 100644
index 0000000..39e29c3
Binary files /dev/null and b/test-fixtures/media/jpeg-1x1.bin differ
diff --git a/test-fixtures/media/minimal-aloha.h5 b/test-fixtures/media/minimal-aloha.h5
new file mode 100644
index 0000000..7271c50
Binary files /dev/null and b/test-fixtures/media/minimal-aloha.h5 differ
diff --git a/test-fixtures/media/minimal.bvh b/test-fixtures/media/minimal.bvh
new file mode 100644
index 0000000..cb029d3
--- /dev/null
+++ b/test-fixtures/media/minimal.bvh
@@ -0,0 +1,40 @@
+HIERARCHY
+ROOT Hips
+{
+  OFFSET 0.000000 97.120003 0.000000
+  CHANNELS 6 Xposition Yposition Zposition Yrotation Xrotation Zrotation
+  JOINT RightUpLeg
+  {
+    OFFSET -11.000000 -0.000000 0.000000
+    CHANNELS 3 Yrotation Xrotation Zrotation
+    JOINT RightLeg
+    {
+      OFFSET 0.000000 -45.062000 0.000000
+      CHANNELS 3 Yrotation Xrotation Zrotation
+      End Site
+      {
+        OFFSET 0.000000 -42.057999 0.000000
+      }
+    }
+  }
+  JOINT LeftUpLeg
+  {
+    OFFSET 11.000000 -0.000000 0.000000
+    CHANNELS 3 Yrotation Xrotation Zrotation
+    JOINT LeftLeg
+    {
+      OFFSET 0.000000 -45.062000 0.000000
+      CHANNELS 3 Yrotation Xrotation Zrotation
+      End Site
+      {
+        OFFSET 0.000000 -42.057999 0.000000
+      }
+    }
+  }
+}
+MOTION
+Frames: 3
+Frame Time: 0.033333
+0.000000 97.120003 0.000000 0.000000 0.000000 0.000000  0.000000 0.000000 0.000000  0.000000 0.000000 0.000000  0.000000 0.000000 0.000000  0.000000 0.000000 0.000000
+0.500000 97.120003 0.000000 5.000000 2.000000 1.000000  3.000000 1.000000 0.500000  2.000000 0.500000 0.250000  1.000000 0.250000 0.125000  0.500000 0.125000 0.062500
+1.000000 97.120003 0.000000 10.000000 4.000000 2.000000  6.000000 2.000000 1.000000  4.000000 1.000000 0.500000  2.000000 0.500000 0.250000  1.000000 0.250000 0.125000
diff --git a/tests/basic.spec.ts b/tests/basic.spec.ts
index ad89aab..6adcfc8 100644
--- a/tests/basic.spec.ts
+++ b/tests/basic.spec.ts
@@ -1,12 +1,9 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
+import { MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, '../public/examples/test_5s.mcap');
-const fixturePath = process.env.ROSVIEW_TEST_MCAP ?? defaultFixture;
-const hasMcapFixture = existsSync(fixturePath);
+test.beforeAll(() => {
+  requireExamplesDir();
+});
 
 test('renders welcome screen initially', async ({ page }) => {
   await page.goto('/');
@@ -16,9 +13,6 @@ test('renders welcome screen initially', async ({ page }) => {
 
 test('can trigger file input from welcome screen', async ({ page }) => {
   await page.goto('/');
-  // Clicking the button should trigger the hidden file input
-  // We can't easily test the file picker dialog in Playwright, 
-  // but we can check if the button exists and is clickable.
   await expect(page.getByRole('button', { name: 'Choose file' })).toBeEnabled();
 });
 
@@ -41,21 +35,15 @@ test('layout menu lists import, export, save, reset', async ({ page }) => {
 });
 
 test('keyboard shortcuts work', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
-  await page.goto('/?url=/examples/test_5s.mcap');
+  await page.goto(`/?url=${MCAP_BASIC_URL}`);
 
   await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 15000 });
 
-  // Blur focused input: sidebar topic filter can swallow Space before transport shortcuts.
   await page.evaluate(() => {
     const el = document.activeElement;
     if (el instanceof HTMLElement) el.blur();
   });
 
-  // Short fixture (~1s): assert Space toggles play/pause instead of wall-clock drift.
   await expect(page.getByRole('button', { name: 'Play playback' })).toBeVisible();
   const loopMode = page.getByTestId('playback-loop-trigger');
   await expect(loopMode).toBeVisible();
@@ -67,11 +55,7 @@ test('keyboard shortcuts work', async ({ page }) => {
 });
 
 test('playback bar supports hover, drag and loop menu', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
-  await page.goto('/?url=/examples/test_5s.mcap');
+  await page.goto(`/?url=${MCAP_BASIC_URL}`);
   await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 15000 });
 
   const track = page.getByTestId('playback-track');
@@ -101,11 +85,7 @@ test('playback bar supports hover, drag and loop menu', async ({ page }) => {
 });
 
 test('playback updates image frames and supports sampling FPS switch', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
-  await page.goto('/?url=/examples/test_5s.mcap');
+  await page.goto(`/?url=${MCAP_BASIC_URL}`);
   await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
 
   const fpsSelect = page.getByTestId('playback-fps-trigger');
@@ -114,7 +94,6 @@ test('playback updates image frames and supports sampling FPS switch', async ({
   await page.getByTestId('playback-fps-option-15').click();
   await expect(fpsSelect).toContainText('15');
 
-  // Image panel renders to canvas (not <img>); wait for first frame after lazy init.
   const canvas = page.locator('canvas').first();
   await expect(canvas).toBeVisible({ timeout: 45_000 });
   await expect(page.getByRole('button', { name: 'Play playback' })).toBeVisible();
@@ -123,12 +102,8 @@ test('playback updates image frames and supports sampling FPS switch', async ({
 });
 
 test('dockview main region resizes with the window', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
   const prev = page.viewportSize();
-  await page.goto('/?url=/examples/test_5s.mcap');
+  await page.goto(`/?url=${MCAP_BASIC_URL}`);
   await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
 
   const dock = page.getByTestId('rosview-dockview');
diff --git a/tests/bvh-basic.spec.ts b/tests/bvh-basic.spec.ts
new file mode 100644
index 0000000..e7e75df
--- /dev/null
+++ b/tests/bvh-basic.spec.ts
@@ -0,0 +1,15 @@
+import { test, expect } from '@playwright/test';
+import { BVH_MINIMAL, BVH_MINIMAL_URL, requireFixture } from './fixturePaths';
+
+test.describe.configure({ timeout: 60_000 });
+
+test.beforeAll(() => {
+  requireFixture(BVH_MINIMAL);
+});
+
+test('BVH sample loads and exposes skeleton topic in the sidebar', async ({ page }) => {
+  await page.goto(`/?url=${BVH_MINIMAL_URL}`, { waitUntil: 'domcontentloaded' });
+
+  await expect(page.locator('body')).toContainText('/bvh/skeleton', { timeout: 30_000 });
+  await expect(page.getByRole('button', { name: 'Play playback' })).toBeVisible();
+});
diff --git a/tests/delivery.spec.ts b/tests/delivery.spec.ts
index e923b6a..0e4c1ce 100644
--- a/tests/delivery.spec.ts
+++ b/tests/delivery.spec.ts
@@ -1,12 +1,9 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
+import { MCAP_BASIC, MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, '../public/examples/test_5s.mcap');
-const fixturePath = process.env.ROSVIEW_TEST_MCAP ?? defaultFixture;
-const hasMcapFixture = existsSync(fixturePath);
+test.beforeAll(() => {
+  requireExamplesDir();
+});
 
 test('zh UI from ?lang= query', async ({ page }) => {
   await page.goto('/?lang=zh');
@@ -21,24 +18,24 @@ test('zh UI from ?lang=zh-CN query (SEO-friendly)', async ({ page }) => {
 });
 
 test('remote single url opens fixture', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
-  await page.goto('/?url=/examples/test_5s.mcap', { waitUntil: 'domcontentloaded' });
+  await page.goto(`/?url=${MCAP_BASIC_URL}`, { waitUntil: 'domcontentloaded' });
   await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
   await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
   await expect(page.locator('nav')).toContainText('test_5s.mcap', { timeout: 15_000 });
 });
 
 test('dockview theme class follows light mode', async ({ page }) => {
-  test.skip(
-    !hasMcapFixture,
-    `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-  );
-  await page.goto('/?url=/examples/test_5s.mcap&theme=light');
+  await page.goto(`/?url=${MCAP_BASIC_URL}&theme=light`);
   await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 30_000 });
   const dock = page.getByTestId('rosview-dockview');
   await expect(dock).toHaveAttribute('data-dockview-chrome-theme', 'light');
   await expect(page.locator('.ros-dockview-theme-light').first()).toBeVisible();
 });
+
+test.describe('local file upload', () => {
+  test('local file via welcome hidden file input', async ({ page }) => {
+    await page.goto('/');
+    await page.locator('#rosview-landing-file').setInputFiles(MCAP_BASIC);
+    await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
+  });
+});
diff --git a/tests/dockview-chrome.spec.ts b/tests/dockview-chrome.spec.ts
index b2af6e8..fdff2ef 100644
--- a/tests/dockview-chrome.spec.ts
+++ b/tests/dockview-chrome.spec.ts
@@ -1,12 +1,5 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
-
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, '../public/examples/test_5s.mcap');
-const fixturePath = process.env.ROSVIEW_TEST_MCAP ?? defaultFixture;
-const hasMcapFixture = existsSync(fixturePath);
+import { MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths';
 
 async function openFirstTabChromeMenuIfNeeded(page: import('@playwright/test').Page): Promise<void> {
   const directAdd = page.getByTestId('panel-tab-add-button').first();
@@ -21,12 +14,12 @@ async function openFirstTabChromeMenuIfNeeded(page: import('@playwright/test').P
 test.describe('Dockview chrome', () => {
   test.describe.configure({ timeout: 90_000 });
 
+  test.beforeAll(() => {
+    requireExamplesDir();
+  });
+
   test('shows dockview, group add split, and tab close control', async ({ page }) => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-    );
-    await page.goto('/?url=/examples/test_5s.mcap', { waitUntil: 'domcontentloaded' });
+    await page.goto(`/?url=${MCAP_BASIC_URL}`, { waitUntil: 'domcontentloaded' });
     await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
     await openFirstTabChromeMenuIfNeeded(page);
     await expect(page.getByTestId('panel-tab-add-button').first()).toBeVisible({ timeout: 30_000 });
@@ -34,11 +27,7 @@ test.describe('Dockview chrome', () => {
   });
 
   test('primary add creates a new tab in the group', async ({ page }) => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-    );
-    await page.goto('/?url=/examples/test_5s.mcap', { waitUntil: 'domcontentloaded' });
+    await page.goto(`/?url=${MCAP_BASIC_URL}`, { waitUntil: 'domcontentloaded' });
     await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
     await openFirstTabChromeMenuIfNeeded(page);
     await expect(page.getByTestId('panel-tab-add-button').first()).toBeVisible({ timeout: 30_000 });
@@ -56,11 +45,7 @@ test.describe('Dockview chrome', () => {
   });
 
   test('tab context menu offers Close', async ({ page }) => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-    );
-    await page.goto('/?url=/examples/test_5s.mcap', { waitUntil: 'domcontentloaded' });
+    await page.goto(`/?url=${MCAP_BASIC_URL}`, { waitUntil: 'domcontentloaded' });
     await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
     const firstTab = page.locator('.dv-tab').first();
     await firstTab.click({ button: 'right' });
@@ -69,11 +54,7 @@ test.describe('Dockview chrome', () => {
   });
 
   test('tab labels show panel type (not topic basename)', async ({ page }) => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-    );
-    await page.goto('/?url=/examples/test_5s.mcap', { waitUntil: 'domcontentloaded' });
+    await page.goto(`/?url=${MCAP_BASIC_URL}`, { waitUntil: 'domcontentloaded' });
     await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
     await expect(page.locator('.dv-tab').filter({ hasText: /^Image$/ }).first()).toBeVisible({
       timeout: 30_000,
@@ -81,11 +62,7 @@ test.describe('Dockview chrome', () => {
   });
 
   test('dockview theme class follows dark mode', async ({ page }) => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (${fixturePath})`,
-    );
-    await page.goto('/?url=/examples/test_5s.mcap&theme=dark', { waitUntil: 'domcontentloaded' });
+    await page.goto(`/?url=${MCAP_BASIC_URL}&theme=dark`, { waitUntil: 'domcontentloaded' });
     await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
     const dock = page.getByTestId('rosview-dockview');
     await expect(dock).toHaveAttribute('data-dockview-chrome-theme', 'dark');
diff --git a/tests/fixturePaths.ts b/tests/fixturePaths.ts
new file mode 100644
index 0000000..abe28e1
--- /dev/null
+++ b/tests/fixturePaths.ts
@@ -0,0 +1,33 @@
+import { existsSync } from 'node:fs';
+import path from 'node:path';
+import { fileURLToPath } from 'node:url';
+
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
+
+export const EXAMPLES_DIR = path.join(__dirname, '../public/examples');
+
+export const MCAP_BASIC = path.join(EXAMPLES_DIR, 'test_5s.mcap');
+export const MCAP_POSE = path.join(EXAMPLES_DIR, 'test_pose.mcap');
+export const MCAP_3CAM = path.join(EXAMPLES_DIR, 'test_3cam.mcap');
+export const MCAP_H264 = path.join(EXAMPLES_DIR, 'test_h264.mcap');
+export const HDF5_MINIMAL = path.join(EXAMPLES_DIR, 'test_minimal.hdf5');
+export const BVH_MINIMAL = path.join(EXAMPLES_DIR, 'test_minimal.bvh');
+
+export const MCAP_BASIC_URL = '/examples/test_5s.mcap';
+export const MCAP_POSE_URL = '/examples/test_pose.mcap';
+export const MCAP_3CAM_URL = '/examples/test_3cam.mcap';
+export const MCAP_H264_URL = '/examples/test_h264.mcap';
+export const HDF5_MINIMAL_URL = '/examples/test_minimal.hdf5';
+export const BVH_MINIMAL_URL = '/examples/test_minimal.bvh';
+
+/** Fail fast when pretest:e2e has not generated fixtures. */
+export function requireFixture(fixturePath: string): string {
+  if (!existsSync(fixturePath)) {
+    throw new Error(`Missing fixture: ${fixturePath}. Run npm run gen:e2e:fixtures`);
+  }
+  return fixturePath;
+}
+
+export function requireExamplesDir(): void {
+  requireFixture(MCAP_BASIC);
+}
diff --git a/tests/hdf5-basic.spec.ts b/tests/hdf5-basic.spec.ts
index b404d94..00864dc 100644
--- a/tests/hdf5-basic.spec.ts
+++ b/tests/hdf5-basic.spec.ts
@@ -1,59 +1,35 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
-
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, '../public/examples/episode_20260122_122345.hdf5');
-const fixturePath = process.env.ROSVIEW_TEST_HDF5 ?? defaultFixture;
-const hasFixture = existsSync(fixturePath);
-const fixtureUrlName = path.basename(fixturePath);
-
-// The 245 MB sample takes a while to load even over lazy ranges.
-test.describe.configure({ mode: 'serial', timeout: 300_000 });
-
-if (!hasFixture) {
-  console.warn(
-    `[e2e] hdf5-basic.spec.ts not registered: missing fixture public/examples/${fixtureUrlName} ` +
-      `or ROSVIEW_TEST_HDF5 (${fixturePath})`,
-  );
-}
-
-if (hasFixture) {
+import { HDF5_MINIMAL_URL, requireFixture, HDF5_MINIMAL } from './fixturePaths';
+
+test.describe.configure({ mode: 'serial', timeout: 120_000 });
+
+test.beforeAll(() => {
+  requireFixture(HDF5_MINIMAL);
+});
+
 test('HDF5 sample loads and exposes synthesized ROS topics in the sidebar', async ({ page }) => {
   page.on('pageerror', (err) => console.log('[browser:pageerror]', err.message));
 
-  await page.goto(`/?url=/examples/${fixtureUrlName}`);
+  await page.goto(`/?url=${HDF5_MINIMAL_URL}`);
 
-  // Once the HDF5 worker has initialized, the sidebar lists the synthesized
-  // virtual topics. This is our readiness signal (the dockview shows only the
-  // Welcome placeholder by default until the user pins a panel).
   await expect(page.locator('body')).toContainText('/observations/joint_states', {
-    timeout: 180_000,
+    timeout: 60_000,
   });
   await expect(page.locator('body')).toContainText('/observations/images/ext1');
   await expect(page.locator('body')).toContainText('/observations/ee_pose');
   await expect(page.locator('body')).toContainText('/action');
 
-  // Playback controls must be present once the source is ready.
   await expect(page.getByRole('button', { name: 'Play playback' })).toBeVisible();
 });
 
 test('HDF5 image topic can be opened into an Image panel', async ({ page }) => {
-  await page.goto(`/?url=/examples/${fixtureUrlName}`);
+  await page.goto(`/?url=${HDF5_MINIMAL_URL}`);
 
-  // Wait for topics to show up in the sidebar. Use getByText (text engine)
-  // with an explicit string so Playwright doesn't misinterpret the leading
-  // slash as a regex flag.
   const imageTopicRow = page.getByText('/observations/images/ext1', { exact: false }).first();
-  await expect(imageTopicRow).toBeVisible({ timeout: 180_000 });
+  await expect(imageTopicRow).toBeVisible({ timeout: 60_000 });
 
-  // Click to add as a panel. The sidebar entry is clickable and defaults to
-  // opening the Image panel for image-typed topics.
   await imageTopicRow.click();
 
-  // The Image panel renders into a <canvas>. Wait for it.
   const canvas = page.locator('canvas').first();
   await expect(canvas).toBeVisible({ timeout: 45_000 });
 });
-}
diff --git a/tests/image-h264.spec.ts b/tests/image-h264.spec.ts
index 2c57d5e..32ecb97 100644
--- a/tests/image-h264.spec.ts
+++ b/tests/image-h264.spec.ts
@@ -1,23 +1,14 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
+import { MCAP_H264_URL, requireFixture, MCAP_H264 } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const fixturePathCandidates = [
-  path.join(__dirname, '../public/examples/episode_00004_2026_04_22_08_41_30.mcap'),
-  path.join(process.cwd(), 'public/examples/episode_00004_2026_04_22_08_41_30.mcap'),
-];
-const fixturePath = fixturePathCandidates.find((p) => existsSync(p)) ?? fixturePathCandidates[0];
-const hasFixture = existsSync(fixturePath);
+test.describe.configure({ timeout: 120_000 });
 
-if (!hasFixture) {
-  console.warn(`[e2e] image-h264.spec.ts not registered: missing sample MCAP ${fixturePath}`);
-}
+test.beforeAll(() => {
+  requireFixture(MCAP_H264);
+});
 
-if (hasFixture) {
-test('H.264 CompressedImage decodes without error (episode mcap)', async ({ page }) => {
-  await page.goto('/?url=/examples/episode_00004_2026_04_22_08_41_30.mcap', { waitUntil: 'domcontentloaded' });
+test('H.264 CompressedImage decodes without error', async ({ page }) => {
+  await page.goto(`/?url=${MCAP_H264_URL}`, { waitUntil: 'domcontentloaded' });
   await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
 
   const play = page.getByRole('button', { name: 'Play playback' });
@@ -30,11 +21,9 @@ test('H.264 CompressedImage decodes without error (episode mcap)', async ({ page
   const hasDecodeFailure = await page.getByText(/decode failed|could not be decoded/i).count();
   expect(hasDecodeFailure).toBe(0);
 
-  // Image surface may render via OffscreenCanvas (no readable 2D on the DOM canvas); rely on worker UI + no errors above.
   const imageStatus = page.getByTestId('image-panel-status');
   if (await page.getByTestId('image-panel-canvas').isVisible().catch(() => false)) {
     await expect(imageStatus).toBeVisible({ timeout: 90_000 });
     await expect(imageStatus).toHaveText(/\d+x\d+/);
   }
 });
-}
diff --git a/tests/multi-sources.spec.ts b/tests/multi-sources.spec.ts
index 3523618..5092c64 100644
--- a/tests/multi-sources.spec.ts
+++ b/tests/multi-sources.spec.ts
@@ -1,30 +1,20 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
-
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, '../public/examples/test_5s.mcap');
-const fixturePath = process.env.ROSVIEW_TEST_MCAP ?? defaultFixture;
-const hasMcapFixture = existsSync(fixturePath);
+import { MCAP_BASIC, MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths';
 
 test.describe('multi-source URLs and sidebar', () => {
-  test.beforeEach(() => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (current ${fixturePath})`,
-    );
+  test.beforeAll(() => {
+    requireExamplesDir();
   });
 
   test('single url= opens fixture', async ({ page }) => {
-    await page.goto('/?url=/examples/test_5s.mcap');
+    await page.goto(`/?url=${MCAP_BASIC_URL}`);
     await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
     await expect(page.getByTestId('playback-loaded-range').first()).toBeVisible();
   });
 
   test('local file via welcome hidden file input', async ({ page }) => {
     await page.goto('/');
-    await page.locator('#rosview-landing-file').setInputFiles(fixturePath);
+    await page.locator('#rosview-landing-file').setInputFiles(MCAP_BASIC);
     await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
   });
 });
diff --git a/tests/pose-panel.spec.ts b/tests/pose-panel.spec.ts
index dfdd0b8..4465e3d 100644
--- a/tests/pose-panel.spec.ts
+++ b/tests/pose-panel.spec.ts
@@ -1,23 +1,12 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
+import { MCAP_POSE_URL, requireFixture, MCAP_POSE } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const fixtureCandidates = [
-  path.join(__dirname, '../public/examples/episode_00689_2026_04_01_07_14_56.mcap'),
-  path.join(process.cwd(), 'public/examples/episode_00689_2026_04_01_07_14_56.mcap'),
-];
-const fixturePath = fixtureCandidates.find((candidate) => existsSync(candidate)) ?? fixtureCandidates[0];
-const hasFixture = existsSync(fixturePath);
-
-if (!hasFixture) {
-  console.warn(`[e2e] pose-panel.spec.ts not registered: missing sample MCAP ${fixturePath}`);
-}
+test.beforeAll(() => {
+  requireFixture(MCAP_POSE);
+});
 
-if (hasFixture) {
 test('PoseStamped fixture exposes pose topics by schema', async ({ page }) => {
-  await page.goto('/?url=/examples/episode_00689_2026_04_01_07_14_56.mcap', {
+  await page.goto(`/?url=${MCAP_POSE_URL}`, {
     waitUntil: 'domcontentloaded',
   });
   await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
@@ -28,4 +17,3 @@ test('PoseStamped fixture exposes pose topics by schema', async ({ page }) => {
   await expect(page.getByText('/io/pose/Left_Gripper')).toBeVisible({ timeout: 30_000 });
   await expect(page.getByText('/io/pose/Right_Gripper')).toBeVisible({ timeout: 30_000 });
 });
-}
diff --git a/tests/ros-image-grid.spec.ts b/tests/ros-image-grid.spec.ts
index b56b099..1c6da68 100644
--- a/tests/ros-image-grid.spec.ts
+++ b/tests/ros-image-grid.spec.ts
@@ -1,18 +1,12 @@
 import { test, expect } from '@playwright/test';
-import { existsSync } from 'node:fs';
-import path from 'node:path';
-import { fileURLToPath } from 'node:url';
+import { MCAP_3CAM_URL, requireFixture, MCAP_3CAM } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const fixtureName = 'kaixiangzi52_2026-04-16_17-25-08_0.mcap';
-const fixturePath = path.join(__dirname, '../public/examples', fixtureName);
-const hasFixture = existsSync(fixturePath);
+test.describe.configure({ timeout: 120_000 });
 
-if (!hasFixture) {
-  console.warn(`[e2e] ros-image-grid.spec.ts not registered: missing sample MCAP ${fixturePath}`);
-}
+test.beforeAll(() => {
+  requireFixture(MCAP_3CAM);
+});
 
-if (hasFixture) {
 test('loads the three-camera compressed image sample without empty decoder payloads', async ({ page }) => {
   const pageErrors: string[] = [];
   page.on('pageerror', (error) => pageErrors.push(error.message));
@@ -22,7 +16,7 @@ test('loads the three-camera compressed image sample without empty decoder paylo
     }
   });
 
-  await page.goto(`/?url=/examples/${fixtureName}`, { waitUntil: 'domcontentloaded' });
+  await page.goto(`/?url=${MCAP_3CAM_URL}`, { waitUntil: 'domcontentloaded' });
   await expect(page.getByTestId('rosview-dockview')).toBeVisible({ timeout: 60_000 });
 
   const imagePanels = page.getByTestId('image-panel');
@@ -47,4 +41,3 @@ test('loads the three-camera compressed image sample without empty decoder paylo
   await expect(page.getByText(/Image decode failed|Compressed image payload is empty|No image data provided/i)).toHaveCount(0);
   expect(pageErrors.filter((entry) => /ImageDecoder|No image data provided/i.test(entry))).toEqual([]);
 });
-}
diff --git a/tests/transport-fallback.spec.ts b/tests/transport-fallback.spec.ts
index bb1f6c7..09d6594 100644
--- a/tests/transport-fallback.spec.ts
+++ b/tests/transport-fallback.spec.ts
@@ -1,37 +1,26 @@
-import { test, expect } from "@playwright/test";
-import { existsSync } from "node:fs";
-import path from "node:path";
-import { fileURLToPath } from "node:url";
+import { test, expect } from '@playwright/test';
+import { MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths';
 
-const __dirname = path.dirname(fileURLToPath(import.meta.url));
-const defaultFixture = path.join(__dirname, "../public/examples/test_5s.mcap");
-const fixturePath = process.env.ROSVIEW_TEST_MCAP ?? defaultFixture;
-const hasMcapFixture = existsSync(fixturePath);
-
-test.describe("transport fallback", () => {
-  test.beforeEach(() => {
-    test.skip(
-      !hasMcapFixture,
-      `Missing MCAP fixture: copy to public/examples/test_5s.mcap or set ROSVIEW_TEST_MCAP (current ${fixturePath})`,
-    );
+test.describe('transport fallback', () => {
+  test.beforeAll(() => {
+    requireExamplesDir();
   });
 
-  test("exposes selected transport mode on dockview shell", async ({ page }) => {
-    await page.goto("/?url=/examples/test_5s.mcap");
-    await expect(page.getByTestId("rosview-dockview")).toContainText("/camera/", { timeout: 30_000 });
-    await expect(page.getByTestId("rosview-dockview")).toHaveAttribute("data-transport-mode", /^(sab|transfer|comlink)$/);
+  test('exposes selected transport mode on dockview shell', async ({ page }) => {
+    await page.goto(`/?url=${MCAP_BASIC_URL}`);
+    await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
+    await expect(page.getByTestId('rosview-dockview')).toHaveAttribute('data-transport-mode', /^(sab|transfer|comlink)$/);
   });
 
-  test("query parameter forces transfer mode", async ({ page }) => {
-    await page.goto("/?url=/examples/test_5s.mcap&transport=transfer");
-    await expect(page.getByTestId("rosview-dockview")).toContainText("/camera/", { timeout: 30_000 });
-    await expect(page.getByTestId("rosview-dockview")).toHaveAttribute("data-transport-mode", "transfer");
+  test('query parameter forces transfer mode', async ({ page }) => {
+    await page.goto(`/?url=${MCAP_BASIC_URL}&transport=transfer`);
+    await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
+    await expect(page.getByTestId('rosview-dockview')).toHaveAttribute('data-transport-mode', 'transfer');
   });
 
-  test("query parameter forces comlink mode", async ({ page }) => {
-    await page.goto("/?url=/examples/test_5s.mcap&transport=comlink");
-    await expect(page.getByTestId("rosview-dockview")).toContainText("/camera/", { timeout: 30_000 });
-    await expect(page.getByTestId("rosview-dockview")).toHaveAttribute("data-transport-mode", "comlink");
+  test('query parameter forces comlink mode', async ({ page }) => {
+    await page.goto(`/?url=${MCAP_BASIC_URL}&transport=comlink`);
+    await expect(page.getByTestId('rosview-dockview')).toContainText('/camera/', { timeout: 30_000 });
+    await expect(page.getByTestId('rosview-dockview')).toHaveAttribute('data-transport-mode', 'comlink');
   });
 });
-
diff --git a/vite.config.ts b/vite.config.ts
index de7a209..cd55dbb 100644
--- a/vite.config.ts
+++ b/vite.config.ts
@@ -67,7 +67,10 @@ export default defineConfig({
       },
       output: {
         format: 'es',
-        codeSplitting: true,
+        // @ioai/hdf5 dynamic import must stay in the worker bundle — splitting it
+        // emits a sibling chunk (dist-*.js) that workers resolve with a broken
+        // relative URL under preview/assets/.
+        codeSplitting: false,
       },
     },
   },