diff --git a/src/decoders/index.ts b/src/decoders/index.ts
index c96275a..a7bfd5d 100644
--- a/src/decoders/index.ts
+++ b/src/decoders/index.ts
@@ -2,6 +2,7 @@ import CentroidAccelVelocity from './motion/centroid-accel-velocity';
 import CentroidPosition from './motion/centroid-position';
 import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
+import Trackable from './motion/trackable';
 import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
 import ZoneCollisionDetection from './motion/zone-collision-detection';
@@ -10,6 +11,7 @@ import RTTrPHeader from './rttrp';
 
 export const Decoders = {
   RTTrPHeader,
+  Trackable,
   CentroidPosition,
   CentroidAccelVelocity,
   TrackedPointPosition,
diff --git a/src/decoders/motion/trackable.ts b/src/decoders/motion/trackable.ts
new file mode 100644
index 0000000..bef1cb6
--- /dev/null
+++ b/src/decoders/motion/trackable.ts
@@ -0,0 +1,98 @@
+import { Decoders } from '..';
+import { Trackable, TrackableModule } from '../../models';
+
+const textDecoder = new TextDecoder('utf-8');
+
+export default (bytes: Uint8Array, isLittleEndian: boolean = false): Trackable => {
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  const type = view.getUint8(0);
+  dataOffset += 1;
+  if (type !== 0x01 && type !== 0x51) {
+    throw new Error('Trackable module must have a type of 0x01 or 0x51');
+  }
+
+  const size = view.getUint16(dataOffset, isLittleEndian);
+  dataOffset += 2;
+  if (size !== bytes.byteLength) {
+    throw new Error('Trackable module size mismatch');
+  }
+  const nameLength = view.getUint8(dataOffset);
+  dataOffset += 1;
+  const name = textDecoder.decode(bytes.subarray(4, 4 + nameLength));
+  dataOffset += nameLength;
+  let timestamp;
+
+  if (type === 0x51) {
+    timestamp = view.getUint32(dataOffset, isLittleEndian);
+    dataOffset += 4;
+  }
+  const numberOfModules = view.getUint8(dataOffset);
+  dataOffset += 1;
+
+  const modules: TrackableModule[] = [];
+  let trackableModuleOffset = dataOffset;
+
+  for (let index = 0; index < numberOfModules; index++) {
+    const moduleData = bytes.subarray(trackableModuleOffset);
+    const moduleType = moduleData[0];
+    switch (moduleType) {
+      case 0x02: {
+        const module = Decoders.CentroidPosition(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x03: {
+        const module = Decoders.OrientationQuaternion(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x04: {
+        const module = Decoders.OrientationEuler(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x06: {
+        const module = Decoders.TrackedPointPosition(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x20: {
+        const module = Decoders.CentroidAccelVelocity(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x21: {
+        const module = Decoders.TrackedPointAccelVelocity(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      case 0x22: {
+        const module = Decoders.ZoneCollisionDetection(moduleData, isLittleEndian);
+        modules.push(module);
+        trackableModuleOffset += module.size;
+        break;
+      }
+      default:
+        console.error(`unknown trackable submodule type: ${moduleType}`);
+        break;
+    }
+  }
+
+  return {
+    type,
+    size,
+    nameLength,
+    name,
+    timestamp,
+    numberOfModules,
+    modules,
+  };
+};
diff --git a/src/models.ts b/src/models.ts
index 83a5883..2b58719 100644
--- a/src/models.ts
+++ b/src/models.ts
@@ -9,6 +9,25 @@ export type RTTrPHeader = {
   subModuleCount: number;
 };
 
+export type TrackableModule =
+  | CentroidPosition
+  | CentroidAccelVelocity
+  | TrackedPointPosition
+  | TrackedPointAccelVelocity
+  | OrientationEuler
+  | OrientationQuaternion
+  | ZoneCollisionDetection;
+
+export type Trackable = {
+  type: number;
+  size: number;
+  nameLength: number;
+  name: string;
+  timestamp?: number;
+  numberOfModules: number;
+  modules: TrackableModule[];
+};
+
 export type CentroidPosition = {
   type: number;
   size: number;
diff --git a/tests/decode.test.js b/tests/decode.test.js
index 3061d14..d2abf26 100644
--- a/tests/decode.test.js
+++ b/tests/decode.test.js
@@ -166,6 +166,59 @@ const goodTests = [
     },
     decoder: Decoders.ZoneObject,
   },
+  {
+    description: 'Trackable (with Timestamp) + Centroid Position Module',
+    bytes: new Uint8Array([
+      81, 0, 42, 4, 84, 101, 115, 116, 103, 213, 152, 27, 1, 2, 0, 29, 0, 100, 63, 240, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
+      0, 0, 0, 0, 64, 8, 0, 0, 0, 0, 0, 0,
+    ]),
+    expected: {
+      type: 0x51,
+      size: 42,
+      nameLength: 4,
+      name: 'Test',
+      timestamp: 1742051355,
+      numberOfModules: 1,
+      modules: [
+        {
+          type: 0x02,
+          size: 29,
+          latency: 100,
+          x: 1,
+          y: 2,
+          z: 3,
+        },
+      ],
+    },
+    decoder: Decoders.Trackable,
+  },
+  {
+    description: 'Trackable (with Timestamp) + Tracked Point Position Module',
+    bytes: new Uint8Array([
+      81, 0, 43, 4, 84, 101, 115, 116, 103, 213, 152, 27, 1, 6, 0, 30, 0, 100, 63, 240, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
+      0, 0, 0, 0, 64, 8, 0, 0, 0, 0, 0, 0, 1,
+    ]),
+    expected: {
+      type: 0x51,
+      size: 43,
+      nameLength: 4,
+      name: 'Test',
+      timestamp: 1742051355,
+      numberOfModules: 1,
+      modules: [
+        {
+          type: 0x06,
+          size: 30,
+          latency: 100,
+          x: 1,
+          y: 2,
+          z: 3,
+          index: 1,
+        },
+      ],
+    },
+    decoder: Decoders.Trackable,
+  },
 ];
 
 describe('RTTrP Bytes Decoding', () => {