diff --git a/invesalius/constants.py b/invesalius/constants.py
index 6d6db53..51418a8 100644
--- a/invesalius/constants.py
+++ b/invesalius/constants.py
@@ -666,8 +666,9 @@ ISOTRAKII = 3
 PATRIOT = 4
 CAMERA = 5
 POLARIS = 6
-DEBUGTRACK = 7
-DISCTRACK = 8
+OPTITRACK = 7
+DEBUGTRACK = 8
+DISCTRACK = 9
 DEFAULT_TRACKER = SELECT
 
 NDICOMPORT = b'COM1'
@@ -675,7 +676,7 @@ NDICOMPORT = b'COM1'
 TRACKER = [_("Select tracker:"), _("Claron MicronTracker"),
            _("Polhemus FASTRAK"), _("Polhemus ISOTRAK II"),
            _("Polhemus PATRIOT"), _("Camera tracker"),
-           _("NDI Polaris"), _("Debug tracker"), _("Disconnect tracker")]
+           _("NDI Polaris"), _("Optitrack"), _("Debug tracker"), _("Disconnect tracker")]
 
 STATIC_REF = 0
 DYNAMIC_REF = 1
@@ -753,7 +754,7 @@ PEEL_DEPTH = 5
 MAX_PEEL_DEPTH = 30
 SEED_OFFSET = 15
 SEED_RADIUS = 1.5
-SLEEP_NAVIGATION = 0.3
+SLEEP_NAVIGATION = 0.1
 BRAIN_OPACITY = 0.5
 N_CPU = psutil.cpu_count()
 TREKKER_CONFIG = {'seed_max': 1, 'step_size': 0.1, 'min_fod': 0.1, 'probe_quality': 3,
diff --git a/invesalius/data/coordinates.py b/invesalius/data/coordinates.py
index c7041e8..abcbe74 100644
--- a/invesalius/data/coordinates.py
+++ b/invesalius/data/coordinates.py
@@ -48,6 +48,7 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
                     const.PATRIOT: PolhemusCoord,
                     const.CAMERA: CameraCoord,
                     const.POLARIS: PolarisCoord,
+                    const.OPTITRACK: OptitrackCoord,
                     const.DEBUGTRACK: DebugCoord}
         coord = getcoord[trck_id](trck_init, trck_id, ref_mode)
     else:
@@ -55,6 +56,46 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
 
     return coord
 
+def OptitrackCoord(trck_init, trck_id, ref_mode):
+    """
+
+    Obtains coordinates and angles of tracking rigid bodies (Measurement Probe, Coil, Head). Converts orientations from quaternion
+    rotations to Euler angles. This function uses Optitrack wrapper from Motive API 2.2.
+
+    Parameters
+    ----------
+    :trck_init: tracker initialization instance from OptitrackTracker function at trackers.py
+    :trck_id: not used
+    :ref_mode: not used
+
+    Returns
+    -------
+    coord: position of tracking rigid bodies
+    """
+    trck=trck_init[0]
+    trck.Run()
+
+    scale = 1000*np.array([1.0, 1.0, 1.0]) # coordinates are in millimeters in Motive API
+
+    angles_probe = np.degrees(tr.euler_from_quaternion([float(trck.qwToolTip), float(trck.qzToolTip), float(trck.qxToolTip), float(trck.qyToolTip)], axes='rzyx'))
+    coord1 = np.array([float(trck.PositionToolTipZ1) * scale[0], float(trck.PositionToolTipX1) * scale[1],
+                       float(trck.PositionToolTipY1) * scale[2]])
+    coord1 = np.hstack((coord1, angles_probe))
+
+    angles_head = np.degrees(tr.euler_from_quaternion([float(trck.qwHead), float(trck.qzHead), float(trck.qxHead), float(trck.qyHead)], axes='rzyx'))
+    coord2 = np.array([float(trck.PositionHeadZ1) * scale[0], float(trck.PositionHeadX1) * scale[1],
+                       float(trck.PositionHeadY1) * scale[2]])
+    coord2 = np.hstack((coord2, angles_head))
+
+    angles_coil = np.degrees(tr.euler_from_quaternion([float(trck.qwCoil), float(trck.qzCoil), float(trck.qxCoil), float(trck.qyCoil)], axes='rzyx'))
+    coord3 = np.array([float(trck.PositionCoilZ1) * scale[0], float(trck.PositionCoilX1) * scale[1],
+                       float(trck.PositionCoilY1) * scale[2]])
+    coord3 = np.hstack((coord3, angles_coil))
+
+    coord = np.vstack([coord1, coord2, coord3])
+    return coord
+
+
 def PolarisCoord(trck_init, trck_id, ref_mode):
     trck = trck_init[0]
     trck.Run()
diff --git a/invesalius/data/trackers.py b/invesalius/data/trackers.py
index d2d1f02..ffc71b4 100644
--- a/invesalius/data/trackers.py
+++ b/invesalius/data/trackers.py
@@ -40,6 +40,7 @@ def TrackerConnection(tracker_id, trck_init, action):
                     const.PATRIOT: PolhemusTracker,    # PATRIOT
                     const.CAMERA: CameraTracker,      # CAMERA
                     const.POLARIS: PolarisTracker,      # POLARIS
+                    const.OPTITRACK: OptitrackTracker,   #Optitrack
                     const.DEBUGTRACK: DebugTracker}
 
         trck_init = trck_fcn[tracker_id](tracker_id)
@@ -62,6 +63,30 @@ def DefaultTracker(tracker_id):
     # return tracker initialization variable and type of connection
     return trck_init, 'wrapper'
 
+def OptitrackTracker(tracker_id):
+    """
+    Imports optitrack wrapper from Motive 2.2. Initialize cameras, attach listener, loads Calibration, loads User Profile
+    (Rigid bodies information).
+
+    Parameters
+    ----------
+    tracker_id : Optitrack ID
+
+    Returns
+    -------
+    trck_init : local name for Optitrack module
+    """
+    trck_init = None
+    try:
+        import optitrack
+        trck_init = optitrack.optr()
+        if trck_init.Initialize()==0:
+            trck_init.Run() #Runs once Run function, to update cameras.
+        else:
+            trck_init = None
+    except ImportError:
+        print('Error')
+    return trck_init, 'wrapper'
 
 def PolarisTracker(tracker_id):
     from wx import ID_OK
diff --git a/invesalius/gui/dialogs.py b/invesalius/gui/dialogs.py
index d4c59e4..1e2932a 100644
--- a/invesalius/gui/dialogs.py
+++ b/invesalius/gui/dialogs.py
@@ -869,6 +869,7 @@ def ShowNavigationTrackerWarning(trck_id, lib_mode):
             const.PATRIOT: 'Polhemus PATRIOT',
             const.CAMERA: 'CAMERA',
             const.POLARIS: 'NDI Polaris',
+            const.OPTITRACK: 'Optitrack',
             const.DEBUGTRACK: 'Debug tracker device'}
 
     if lib_mode == 'choose':
--
libgit2 0.21.2