diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index 78448097..9cdc7034 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -252,31 +252,31 @@ def generate() -> None:
 
 def generate_add() -> None:
   """Generate add constructors with optional keyword arguments."""
-  for key, parent, default in [
-      ('mjsSite', 'Body', True),
-      ('mjsGeom', 'Body', True),
-      ('mjsJoint', 'Body', True),
-      ('mjsLight', 'Body', True),
-      ('mjsCamera', 'Body', True),
-      ('mjsBody', 'Body', True),
-      ('mjsFrame', 'Body', True),
-      ('mjsMaterial', 'Spec', True),
-      ('mjsMesh', 'Spec', True),
-      ('mjsPair', 'Spec', True),
-      ('mjsEquality', 'Spec', True),
-      ('mjsTendon', 'Spec', True),
-      ('mjsActuator', 'Spec', True),
-      ('mjsSkin', 'Spec', False),
-      ('mjsTexture', 'Spec', False),
-      ('mjsText', 'Spec', False),
-      ('mjsTuple', 'Spec', False),
-      ('mjsFlex', 'Spec', False),
-      ('mjsHField', 'Spec', False),
-      ('mjsKey', 'Spec', False),
-      ('mjsNumeric', 'Spec', False),
-      ('mjsExclude', 'Spec', False),
-      ('mjsSensor', 'Spec', False),
-      ('mjsPlugin', 'Spec', False),
+  for key, parent, default, listname, objtype in [
+      ('mjsSite',     'Body', True,  'sites',      'mjOBJ_SITE'),
+      ('mjsGeom',     'Body', True,  'geoms',      'mjOBJ_GEOM'),
+      ('mjsJoint',    'Body', True,  'joints',     'mjOBJ_JOINT'),
+      ('mjsLight',    'Body', True, 'lights',      'mjOBJ_LIGHT'),
+      ('mjsCamera',   'Body', True,  'cameras',    'mjOBJ_CAMERA'),
+      ('mjsBody',     'Body', True,  'bodies',     'mjOBJ_BODY'),
+      ('mjsFrame',    'Body', True,  'frames',     'mjOBJ_FRAME'),
+      ('mjsMaterial', 'Spec', True,  'materials',  'mjOBJ_MATERIAL'),
+      ('mjsMesh',     'Spec', True,  'meshes',     'mjOBJ_MESH'),
+      ('mjsPair',     'Spec', True,  'pairs',      'mjOBJ_PAIR'),
+      ('mjsEquality', 'Spec', True,  'equalities', 'mjOBJ_EQUALITY'),
+      ('mjsTendon',   'Spec', True,  'tendons',    'mjOBJ_TENDON'),
+      ('mjsActuator', 'Spec', True,  'actuators',  'mjOBJ_ACTUATOR'),
+      ('mjsSkin',     'Spec', False, 'skins',      'mjOBJ_SKIN'),
+      ('mjsTexture',  'Spec', False, 'textures',   'mjOBJ_TEXTURE'),
+      ('mjsText',     'Spec', False, 'texts',      'mjOBJ_TEXT'),
+      ('mjsTuple',    'Spec', False, 'tuples',     'mjOBJ_TUPLE'),
+      ('mjsFlex',     'Spec', False, 'flexes',     'mjOBJ_FLEX'),
+      ('mjsHField',   'Spec', False, 'hfields',    'mjOBJ_HFIELD'),
+      ('mjsKey',      'Spec', False, 'keys',       'mjOBJ_KEY'),
+      ('mjsNumeric',  'Spec', False, 'numerics',   'mjOBJ_NUMERIC'),
+      ('mjsExclude',  'Spec', False, 'excludes',   'mjOBJ_EXCLUDE'),
+      ('mjsSensor',   'Spec', False, 'sensors',    'mjOBJ_SENSOR'),
+      ('mjsPlugin',   'Spec', False, 'plugins',    'mjOBJ_PLUGIN'),
   ]:
 
     def _field(f: ast_nodes.StructFieldDecl):
@@ -561,6 +561,21 @@ def generate_add() -> None:
       py::return_value_policy::reference_internal);
     """
 
+    code += f"""\n
+      mjSpec.def_property_readonly(
+        "{listname}",
+        [](MjSpec& self) -> py::list {{
+          py::list list;
+          raw::MjsElement* el = mjs_firstElement(self.ptr, {objtype});
+          while (el) {{
+            list.append(mjs_as{key[3:]}(el));
+            el = mjs_nextElement(self.ptr, el);
+          }}
+          return list;
+        }},
+        py::return_value_policy::reference_internal);
+    """
+
     print(code)
 
 
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index e807a8c9..01e9aaf8 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -333,210 +333,6 @@ PYBIND11_MODULE(_specs, m) {
   mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
     mjs_detachBody(self.ptr, &body);
   });
-    mjSpec.def_property_readonly(
-      "plugins",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PLUGIN);
-        while (el) {
-          list.append(mjs_asPlugin(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "actuators",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_ACTUATOR);
-        while (el) {
-          list.append(mjs_asActuator(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "sensors",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SENSOR);
-        while (el) {
-          list.append(mjs_asSensor(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "flexes",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_FLEX);
-        while (el) {
-          list.append(mjs_asFlex(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "pairs",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PAIR);
-        while (el) {
-          list.append(mjs_asPair(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "equality",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EQUALITY);
-        while (el) {
-          list.append(mjs_asEquality(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "excludes",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EXCLUDE);
-        while (el) {
-          list.append(mjs_asExclude(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "tendons",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TENDON);
-        while (el) {
-          list.append(mjs_asTendon(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "numeric",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_NUMERIC);
-        while (el) {
-          list.append(mjs_asNumeric(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "text",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXT);
-        while (el) {
-          list.append(mjs_asText(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "tuple",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TUPLE);
-        while (el) {
-          list.append(mjs_asTuple(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "key",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_KEY);
-        while (el) {
-          list.append(mjs_asKey(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "mesh",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MESH);
-        while (el) {
-          list.append(mjs_asMesh(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "hfield",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_HFIELD);
-        while (el) {
-          list.append(mjs_asHField(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "skin",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SKIN);
-        while (el) {
-          list.append(mjs_asSkin(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "texture",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
-        while (el) {
-          list.append(mjs_asTexture(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property_readonly(
-      "material",
-      [](MjSpec& self) -> py::list {
-        py::list list;
-        raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MATERIAL);
-        while (el) {
-          list.append(mjs_asMaterial(el));
-          el = mjs_nextElement(self.ptr, el);
-        }
-        return list;
-      },
-      py::return_value_policy::reference_internal);
 
   // ============================= MJSBODY =====================================
   mjsBody.def_property_readonly(
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 7d94a802..5c9c160e 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -574,6 +574,26 @@ class SpecsTest(absltest.TestCase):
     self.assertEqual(spec.sensors[1].name, 'sensor2')
     self.assertEqual(spec.sensors[2].name, 'sensor3')
 
+  def test_body_list(self):
+    main_xml = """
+    <mujoco>
+      <worldbody>
+        <body name="body1">
+          <body name="body3">
+            <body name="body4"/>
+          </body>
+        </body>
+        <body name="body2"/>
+      </worldbody>
+    </mujoco>
+    """
+    spec = mujoco.MjSpec.from_string(main_xml)
+    self.assertLen(spec.bodies, 4)
+    self.assertEqual(spec.bodies[0].name, 'body1')
+    self.assertEqual(spec.bodies[1].name, 'body2')
+    self.assertEqual(spec.bodies[2].name, 'body3')
+    self.assertEqual(spec.bodies[3].name, 'body4')
+
   def test_iterators(self):
     spec = mujoco.MjSpec()
     geom1 = spec.worldbody.add_geom()