Robot XML:unknown default class name

[shockstove]

System Info

Robosuite=1.5.1
Ubuntu

Information

the problem is when I run

# create environment instance
env = suite.make(
    env_name="Lift", # try with other tasks like "Stack" and "Door"
    robots="Baxter",  # try with other robots like "Sawyer" and "Jaco"
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(*env.action_spec[0].shape) * 0.1
    env.step(action)  # take action in the environment
    env.render()  # render on display

the output like

  File "/home/robin/anaconda3/envs/multi/lib/python3.10/site-packages/robosuite/robots/fixed_base_robot.py", line 67, in load_model
    super().load_model()
  File "/home/robin/anaconda3/envs/multi/lib/python3.10/site-packages/robosuite/robots/robot.py", line 223, in load_model
    self.robot_model.set_mujoco_model()
  File "/home/robin/anaconda3/envs/multi/lib/python3.10/site-packages/robosuite/models/robots/robot_model.py", line 87, in set_mujoco_model
    self.mujoco_model = self.get_model()
  File "/home/robin/anaconda3/envs/multi/lib/python3.10/site-packages/robosuite/models/base.py", line 145, in get_model
    model = mujoco.MjModel.from_xml_string(string.getvalue())
ValueError: XML Error: unknown default class name 'robot0_viz'
Element 'geom', line 105

Besides, some robots from robosuite_models also have the same problem"unknown default class name xxx".

If you could give some help I will be very greatful!

Reproduction

# create environment instance
env = suite.make(
    env_name="Lift", # try with other tasks like "Stack" and "Door"
    robots="Baxter",  # try with other robots like "Sawyer" and "Jaco"
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(*env.action_spec[0].shape) * 0.1
    env.step(action)  # take action in the environment
    env.render()  # render on display

Expected behavior

No response