Implementation:ARISE Initiative Robosuite Reset From Xml String

Metadata:

robosuite
Imitation_Learning
Data_Verification
last_updated: 2026-02-15 12:00 GMT

Overview

Concrete method for reinitializing a simulation environment from a saved XML model string provided by the MujocoEnv base class.

Description

`MujocoEnv.reset_from_xml_string()` reinitializes the simulation from a saved model XML string, enabling exact reconstruction of the environment configuration used during demonstration collection. Combined with `env.sim.set_state_from_flattened()` for state replay, this enables deterministic playback of recorded demonstrations.

Usage

Used in demonstration playback scripts to reconstruct the environment from HDF5 demo data.

Code Reference

Source: robosuite

File: robosuite/environments/base.py

Lines: L654-673

Signature:

def reset_from_xml_string(self, xml_string):
    """
    Reloads the environment from an XML description.
    Args:
        xml_string (str): XML string that will be loaded into the sim
    """

Import: via `robosuite.make()` then `env.reset_from_xml_string(xml)`

I/O Contract

Inputs:

`xml_string` (str, Required) - MuJoCo model XML string

Outputs:

None (side effect: simulation reloaded with the given model)

Usage Examples

import h5py
import robosuite

# Load demonstration data from HDF5 file
demo_file = h5py.File("demo.hdf5", "r")
demo_id = "demo_0"

# Extract the saved model XML string
model_xml = demo_file[f"data/{demo_id}"].attrs["model_file"]

# Create environment (initial configuration may differ from demo)
env = robosuite.make("Lift", robots="Panda", has_renderer=True)

# Reset environment to match the exact configuration from the demo
env.reset_from_xml_string(model_xml)

# Replay states from the demonstration
states = demo_file[f"data/{demo_id}/states"][()]
for state in states:
    # Set exact simulation state for deterministic replay
    env.sim.set_state_from_flattened(state)
    env.sim.forward()
    env.render()

demo_file.close()

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