diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 3a834ff3..64afef62 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -261,7 +261,7 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
// this should never happen
throw pybind11::value_error(
"body.find_all supports the types: body, frame, geom, site, "
- "light, camera.");
+ "joint, light, camera.");
break;
}
el = mjs_nextChild(&body, el, recursive);
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index f0c3bb6c..bfefd71f 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -636,6 +636,8 @@ class SpecsTest(absltest.TestCase):
+
+
@@ -649,6 +651,8 @@ class SpecsTest(absltest.TestCase):
self.assertLen(spec.sites, 5)
self.assertLen(spec.worldbody.find_all('body'), 4)
self.assertLen(spec.worldbody.find_all('site'), 5)
+ self.assertLen(spec.worldbody.find_all('joint'), 1)
+ self.assertLen(spec.worldbody.find_all('geom'), 1)
self.assertEqual(spec.bodies[1].name, 'body1')
self.assertEqual(spec.bodies[2].name, 'body2')
self.assertEqual(spec.bodies[3].name, 'body3')