Special Judge Virender Kumar Goyal also granted the relief to Singh's wife Pratibha Singh, a co-accused in the case.
The CBI, meanwhile, opposed Singhs' application seeking permanent exemption from personal appearance, saying there was no such provision in law.
The court has now posted the matter for argument on accused's plea for November 30.
During the proceedings, the CBI informed the court that it has handed over certain documents, filed along with the charge sheet, to Singhs and other accused persons as per its earlier direction.
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The charge sheet also names as accused LIC agent Anand Chauhan, who was arrested in a separate money laundering case filed by the Enforcement Directorate (ED) in relation to the present matter and is currently in judicial custody.
The court had granted them bail on May 29 after they appeared before it in pursuance to summons issued against them by the court.
The CBI charge sheet, running into over 500 pages having statements of around 225 witnesses and containing 442 documents, has claimed that Singh had amassed assets worth around Rs 10 crore which were disproportionate to his total income during his tenure as a Union minister.
Chauhan was arrested by the ED on July 9 last year in a separate money laundering case related to the disproportionate assets case.
The matter was transferred by the Supreme Court to the Delhi High Court, which on April 6, 2016, had asked the CBI not to arrest Singh and directed him to join the probe.