diff --git a/python/simulator/py_simulator.cpp b/python/simulator/py_simulator.cpp
index 687741014..be56e3ced 100644
--- a/python/simulator/py_simulator.cpp
+++ b/python/simulator/py_simulator.cpp
@@ -7,6 +7,7 @@
 #include "g2o/core/optimizable_graph.h"
 #include "g2o/simulator/simulator.h"
 #include "g2o/simulator/simulator2d_base.h"
+#include "g2o/simulator/simulator3d_base.h"
 
 namespace g2o {
 
@@ -53,6 +54,31 @@ void declareSimulator(py::module& m) {
       .def_readwrite("config", &Simulator2D::config)
       .def("setup", &Simulator2D::setup)
       .def("simulate", &Simulator2D::simulate);
+
+  // 3D Simulator
+  py::class_<Simulator3D::Config>(m, "Simulator3DConfig")
+      .def(py::init<>())
+      .def_readwrite("world_size", &Simulator3D::Config::worldSize)
+      .def_readwrite("nlandmarks", &Simulator3D::Config::nlandmarks)
+      .def_readwrite("sim_steps", &Simulator3D::Config::simSteps)
+      .def_readwrite("has_odom", &Simulator3D::Config::hasOdom)
+      .def_readwrite("has_pose_sensor", &Simulator3D::Config::hasPoseSensor)
+      .def_readwrite("has_point_sensor", &Simulator3D::Config::hasPointSensor)
+      .def_readwrite("has_point_depth_sensor",
+                     &Simulator3D::Config::hasPointDepthSensor)
+      .def_readwrite("has_point_disparity_sensor",
+                     &Simulator3D::Config::hasPointDisparitySensor)
+      .def_readwrite("has_compass", &Simulator3D::Config::hasCompass)
+      .def_readwrite("has_gps", &Simulator3D::Config::hasGPS);
+
+  py::class_<Simulator3D, Simulator>(m, "Simulator3D")
+      .def(py::init<>())
+      .def(py::init([](Simulator3D::Config cfg) {
+        return std::make_unique<Simulator3D>(std::move(cfg));
+      }))
+      .def_readwrite("config", &Simulator3D::config)
+      .def("setup", &Simulator3D::setup)
+      .def("simulate", &Simulator3D::simulate);
 }
 
 }  // namespace g2o
diff --git a/todo.md b/todo.md
index f612ed822..ace043997 100644
--- a/todo.md
+++ b/todo.md
@@ -1,7 +1,7 @@
 [x] wrap simulator into library
 [x] add config types for simulation
 [ ] add tests for simulator
-[ ] add python wrapper for simulator
+[x] add python wrapper for simulator
 [ ] Add typing for parameters to template?
 [ ] Add fixed size types for pure python problems
 [ ] Re-work python wrapping for parameters, templated base param