diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
index 10102a3f9..5510400a6 100644
--- a/src/python/CMakeLists.txt
+++ b/src/python/CMakeLists.txt
@@ -90,7 +90,6 @@ if (PYTHONLIBS_FOUND)
       Box_TEST
       Cylinder_TEST
       Frustum_TEST
-      OrientedBox_TEST
       Plane_TEST
       python_TEST
       SignalStats_TEST
diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
index 027934333..5f088ab82 100644
--- a/src/python_pybind11/CMakeLists.txt
+++ b/src/python_pybind11/CMakeLists.txt
@@ -98,6 +98,7 @@ if (${pybind11_FOUND})
       Matrix4_TEST
       MassMatrix3_TEST
       MovingWindowFilter_TEST
+      OrientedBox_TEST
       PID_TEST
       Pose3_TEST
       Quaternion_TEST
diff --git a/src/python_pybind11/src/OrientedBox.hh b/src/python_pybind11/src/OrientedBox.hh
new file mode 100644
index 000000000..efb73e72d
--- /dev/null
+++ b/src/python_pybind11/src/OrientedBox.hh
@@ -0,0 +1,129 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__ORIENTEDBOX_HH_
+#define IGNITION_MATH_PYTHON__ORIENTEDBOX_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/OrientedBox.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::OrientedBox
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathOrientedBox(py::module &m, const std::string &typestr)
+{
+
+  using Class = ignition::math::OrientedBox<T>;
+  std::string pyclass_name = typestr;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<const ignition::math::Vector3<T>&,
+                  const ignition::math::Pose3<T>&>())
+    .def(py::init<const ignition::math::Vector3<T>&,
+                  const ignition::math::Pose3<T>&,
+                  const ignition::math::Material&>())
+    .def(py::init<const ignition::math::Vector3<T>&>())
+    .def(py::init<const Class&>())
+    .def(py::init<const ignition::math::Vector3<T>&,
+                  const ignition::math::Material&>())
+    .def(py::self != py::self)
+    .def(py::self == py::self)
+    .def("pose",
+         py::overload_cast<ignition::math::Pose3<T>&>(&Class::Pose),
+         "Set the box pose, which is the pose of its center.")
+    .def("pose",
+         py::overload_cast<>(&Class::Pose, py::const_),
+         py::return_value_policy::reference,
+         "Get the box pose, which is the pose of its center.")
+    .def("size",
+         py::overload_cast<>(&Class::Size, py::const_),
+         "Get the size of the OrientedBox.")
+    .def("size",
+         py::overload_cast<ignition::math::Vector3<T>&>
+          (&Class::Size),
+         "Set the size of the OrientedBox.")
+    .def("x_length",
+         &Class::XLength,
+         "Get the length along the x dimension")
+    .def("y_length",
+         &Class::YLength,
+         "Get the length along the y dimension")
+    .def("z_length",
+         &Class::ZLength,
+         "Get the length along the z dimension")
+    .def("material",
+         &Class::Material,
+         "Get the material associated with this OrientedBox.")
+    .def("set_material",
+         &Class::SetMaterial,
+         "Set the material associated with this OrientedBox.")
+    .def("volume",
+         &Class::Volume,
+         "Get the volume of the OrientedBox in m^3.")
+    .def("contains",
+         &Class::Contains,
+         "Check if a point lies inside the box.")
+    .def("density_from_mass",
+         &Class::DensityFromMass,
+         "Compute the OrientedBox's density given a mass value.")
+    .def("set_density_from_mass",
+         &Class::SetDensityFromMass,
+         "Set the density of this OrientedBox based on a mass value.")
+    .def("mass_matrix",
+         &Class::MassMatrix,
+         "Get the mass matrix for this OrientedBox. This function "
+         "is only meaningful if the OrientedBox's size and material "
+         "have been set.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__ORIENTEDBOX_HH_
diff --git a/src/python_pybind11/src/_ignition_math_pybind11.cc b/src/python_pybind11/src/_ignition_math_pybind11.cc
index 4c0496813..2766afc2f 100644
--- a/src/python_pybind11/src/_ignition_math_pybind11.cc
+++ b/src/python_pybind11/src/_ignition_math_pybind11.cc
@@ -30,6 +30,7 @@
 #include "Matrix3.hh"
 #include "Matrix4.hh"
 #include "MovingWindowFilter.hh"
+#include "OrientedBox.hh"
 #include "PID.hh"
 #include "Pose3.hh"
 #include "Quaternion.hh"
@@ -133,6 +134,8 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathQuaternion<double>(m, "Quaterniond");
   ignition::math::python::defineMathQuaternion<float>(m, "Quaternionf");
 
+  ignition::math::python::defineMathOrientedBox<double>(m, "OrientedBoxd");
+
   ignition::math::python::defineMathPose3<int>(m, "Pose3i");
   ignition::math::python::defineMathPose3<double>(m, "Pose3d");
   ignition::math::python::defineMathPose3<float>(m, "Pose3f");
diff --git a/src/python/OrientedBox_TEST.py b/src/python_pybind11/test/OrientedBox_TEST.py
similarity index 98%
rename from src/python/OrientedBox_TEST.py
rename to src/python_pybind11/test/OrientedBox_TEST.py
index 5eb671383..d750bd4ed 100644
--- a/src/python/OrientedBox_TEST.py
+++ b/src/python_pybind11/test/OrientedBox_TEST.py
@@ -12,9 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import math
 import unittest
 
-from ignition.math import IGN_PI, OrientedBoxd, MassMatrix3d, Material, Pose3d, Vector3d
+from ignition.math import OrientedBoxd, MassMatrix3d, Material, Pose3d, Vector3d
 
 g_tolerance = 1e-6
 
@@ -205,7 +206,7 @@ def test_contains_oriented_position(self):
 
     def test_contains_oriented_rotation(self):
         # Rotate PI/2 about +x: swap Z and Y
-        box = OrientedBoxd(Vector3d(1, 2, 3), Pose3d(0, 0, 0, IGN_PI*0.5, 0, 0))
+        box = OrientedBoxd(Vector3d(1, 2, 3), Pose3d(0, 0, 0, math.pi*0.5, 0, 0))
 
         # Doesn't contain non-rotated vertices
         self.assertFalse(box.contains(Vector3d(-0.5, -1.0, -1.5)))