diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index b3164a0..55be6cf 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,4 +1,6 @@
 import CentroidPosition from './motion/centroid-position';
+import OrientationEuler from './motion/orientation-euler';
+import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import RTTrPHeader from './rttrp-header';
@@ -8,4 +10,6 @@ export const Encoders = {
   RTTrPM,
   Trackable,
   CentroidPosition,
+  OrientationQuaternion,
+  OrientationEuler,
 };
diff --git a/src/encoders/motion/orientation-euler.ts b/src/encoders/motion/orientation-euler.ts
new file mode 100644
index 0000000..7890170
--- /dev/null
+++ b/src/encoders/motion/orientation-euler.ts
@@ -0,0 +1,27 @@
+export default (
+  latency: number,
+  order: number,
+  R1: number,
+  R2: number,
+  R3: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(31);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x04);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, order, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, R1, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, R2, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, R3, isLittleEndian);
+  return bytes;
+};
diff --git a/src/encoders/motion/orientation-quaternion.ts b/src/encoders/motion/orientation-quaternion.ts
new file mode 100644
index 0000000..64a8206
--- /dev/null
+++ b/src/encoders/motion/orientation-quaternion.ts
@@ -0,0 +1,27 @@
+export default (
+  latency: number,
+  Qx: number,
+  Qy: number,
+  Qz: number,
+  Qw: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(37);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x03);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, Qx, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qy, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qz, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qw, isLittleEndian);
+  return bytes;
+};