diff --git a/bindings/SofaTypes/CMakeLists.txt b/bindings/SofaTypes/CMakeLists.txt
index d725579fa..4b50f338e 100644
--- a/bindings/SofaTypes/CMakeLists.txt
+++ b/bindings/SofaTypes/CMakeLists.txt
@@ -4,6 +4,7 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Mat.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Quat.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Vec.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Transform.h
 )
 
 set(SOURCE_FILES
@@ -11,6 +12,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Mat.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Quat.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Vec.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaTypes/Binding_Transform.cpp
 )
 
 SP3_add_python_package(
diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.cpp b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.cpp
index 21441f172..5addacf22 100644
--- a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.cpp
+++ b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.cpp
@@ -129,22 +129,10 @@ void moduleAddQuat(py::module &m) {
   });
 
   p.def("__str__", [](Quat &self) {
-    std::string s("(");
-    s += std::to_string(self[0])
-            + ", " + std::to_string(self[1])
-            + ", " + std::to_string(self[2])
-            + ", " + std::to_string(self[3])
-            + ")";
-    return s;
+      return pyQuat::__str__(self, false);
   });
   p.def("__repr__", [](Quat &self) {
-      std::string s("Quat(");
-      s += std::to_string(self[0])
-              + ", " + std::to_string(self[1])
-              + ", " + std::to_string(self[2])
-              + ", " + std::to_string(self[3])
-              + ")";
-      return s;
+      return pyQuat::__str__(self, true);
   });
 
 }
diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.h b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.h
index 38bffd501..6450c4ec3 100644
--- a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.h
+++ b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Quat.h
@@ -28,3 +28,24 @@ using namespace pybind11::literals;
 #include <sofa/type/Quat.h>
 
 void moduleAddQuat(py::module& m);
+
+namespace pyQuat
+{
+template <class T>
+std::string __str__(const sofa::type::Quat<T> &self, bool repr = false)
+{
+    std::string s;
+    if (repr)
+    {
+        s += "Quat";
+    }
+    s += "(";
+    s += std::to_string(self[0])
+            + ", " + std::to_string(self[1])
+            + ", " + std::to_string(self[2])
+            + ", " + std::to_string(self[3])
+            + ")";
+    return s;
+}
+
+} // namespace pyQuat
diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.cpp b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.cpp
new file mode 100644
index 000000000..816bcd71d
--- /dev/null
+++ b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.cpp
@@ -0,0 +1,68 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <SofaPython3/SofaTypes/Binding_Transform.h>
+#include <sofa/defaulttype/typeinfo/DataTypeInfo.h>
+#include <SofaPython3/SofaTypes/Binding_Vec.h>
+#include <SofaPython3/SofaTypes/Binding_Quat.h>
+
+namespace pyTransform
+{
+template<class TReal>
+std::string __str__(const sofa::type::Transform<TReal>& self, bool repr)
+{
+    std::string s;
+    if (repr)
+    {
+        s += "Transform" + sofa::defaulttype::DataTypeInfo<TReal>::name();
+    }
+    s += "(";
+    s += pyVec::__str__(self.getOrigin(), repr);
+    s += std::string(", ");
+    s += pyQuat::__str__(self.getOrientation(), repr);
+    s += ")";
+    return s;
+}
+}
+
+namespace sofapython3::SofaTypes
+{
+
+template<class TReal>
+void addTransform(py::module& m)
+{
+    const auto className = "Transform" + sofa::defaulttype::DataTypeInfo<TReal>::name();
+    py::class_<sofa::type::Transform<TReal>> p(m, className.c_str());
+
+    p.def("__str__", [](sofa::type::Transform<TReal>& self)
+        {
+            return pyTransform::__str__(self, false);
+        });
+    p.def("__repr__", [](sofa::type::Transform<TReal>& self)
+        {
+            return pyTransform::__str__(self, false);
+        });
+}
+
+void moduleAddTransform(py::module& m)
+{
+    addTransform<SReal>(m);
+}
+
+}
diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.h b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.h
new file mode 100644
index 000000000..f49d5bce9
--- /dev/null
+++ b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Transform.h
@@ -0,0 +1,37 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <pybind11/pybind11.h>
+namespace py = pybind11;
+
+#include <sofa/type/Transform.h>
+#include "Binding_Quat.h"
+
+namespace sofapython3::SofaTypes
+{
+void moduleAddTransform(py::module &m);
+}
+
+namespace pyTransform
+{
+template<class TReal>
+std::string __str__(const sofa::type::Transform<TReal>& self, bool repr);
+}
diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Module_SofaTypes.cpp b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Module_SofaTypes.cpp
index e6a55a833..a0c26302c 100644
--- a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Module_SofaTypes.cpp
+++ b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Module_SofaTypes.cpp
@@ -23,6 +23,7 @@
 #include <SofaPython3/SofaTypes/Binding_Mat.h>
 #include <SofaPython3/SofaTypes/Binding_Quat.h>
 #include <SofaPython3/SofaTypes/Binding_Vec.h>
+#include <SofaPython3/SofaTypes/Binding_Transform.h>
 #include <sofa/defaulttype/init.h>
 
 /// The first parameter must be named the same as the module file to load.
@@ -32,4 +33,5 @@ PYBIND11_MODULE(SofaTypes, m) {
     moduleAddMat(m);
     moduleAddQuat(m);
     moduleAddVec(m);
+    sofapython3::SofaTypes::moduleAddTransform(m);
 }