diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index c6764a3de3..d37fc8ccca 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -70,6 +70,19 @@ def _value_binding_code(
 
   return f'{classname}.def_property({",".join(def_property_args)});'
 
+def _struct_binding_code(
+    field: ast_nodes.AnonymousStructDecl, classname: str = '', varname: str = ''
+) -> str:
+  code = ''
+  name = classname + varname.title()
+  # explicitly generate for nested fields with arrays
+  if any(isinstance(f.type, ast_nodes.ArrayType) for f in field.fields):
+    for subfield in field.fields:
+      code += _binding_code(subfield, name)
+  # generate for the struct itself
+  field = ast_nodes.ValueType(name=name)
+  code += _value_binding_code(field, classname, varname)
+  return code
 
 def _array_binding_code(
     field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
@@ -227,13 +240,7 @@ def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
   if isinstance(field.type, ast_nodes.ValueType):
     return _value_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.AnonymousStructDecl):
-    code = ""
-    if field.name in ['headlight', 'rgba']:
-      for subfield in field.type.fields:
-        code += _binding_code(subfield, 'mjVisual'+field.name.title())
-    field.type = ast_nodes.ValueType(name='mjVisual'+field.name.title())
-    code += _value_binding_code(field.type, key, field.name)
-    return code
+    return _struct_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.PointerType):
     return _ptr_binding_code(field.type, key, field.name)
   elif isinstance(field.type, ast_nodes.ArrayType):