### Generate RGB Data

This step converts state-based trajectories into two-view RGB observations (third-person view + hand view) using [ManiSkill3](https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html).

#### Prerequisites

- The `.h5` trajectory file and its corresponding `.json` metadata file must be placed in the **same directory**.
- The provided dataset contains 1,100 state-based trajectories for the **StackCube** task.

#### Usage

Run the following command within your ManiSkill3 environment:

```bash
python -m mani_skill.trajectory.replay_trajectory \
    --traj-path /path/to/stackcube_000_0_1100.h5 \
    --use-first-env-state -c pd_ee_delta_pose -o rgb \
    --save-traj --num-envs 10 -b physx_cpu
```

#### Adjusting Image Resolution

The default resolution is **128×128**. To change it, edit the `.json` metadata file and add the `width` and `height` fields under `sensor_configs`. For example, to set the resolution to **256×256**:

```jsonc
{
    "env_info": {
        "env_id": "StackCube-v1",
        "env_kwargs": {
            "obs_mode": "none",
            "control_mode": "pd_joint_pos",
            "render_mode": "rgb_array",
            "sensor_configs": {
                "shader_pack": "default",
                "width": 256,   // ← add this
                "height": 256   // ← add this
            },
            "human_render_camera_configs": {
                "shader_pack": "default"
            },
            "viewer_camera_configs": {
                "shader_pack": "default"
            },
            "sim_backend": "auto"
        },
        "max_episode_steps": 50
    }
    // ...
}
```