It's actually pretty straightforward. You just need to run
vgcfgrestore with the archived configuration file. The previous configuration should be the most recent file of /etc/lvm/archive/vg00_*.vg . Those are ASCII text files, and the one you want will have a line
description = "Created *before* executing '/sbin/lvremove /dev/mapper/vg00-lv01'"
You can run
Code:
vgcfgrestore -f /etc/lvm/archive/{file_name} vg00
to restore that configuration.