diff --git a/src/components/pose-tracker/client.ts b/src/components/pose-tracker/client.ts
index 83947ebe3..f90ae56ff 100644
--- a/src/components/pose-tracker/client.ts
+++ b/src/components/pose-tracker/client.ts
@@ -6,6 +6,7 @@ import type { Options } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { PoseTracker } from './pose-tracker';
 import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import { GetPosesRequest } from '../../gen/component/posetracker/v1/pose_tracker_pb';
 
 /**
  * A gRPC-web client for the Generic component.
@@ -46,4 +47,19 @@ export class PoseTrackerClient implements PoseTracker {
       callOptions
     );
   }
+
+  async getPoses(
+    bodyNames?: string[],
+    extra = {},
+    callOptions = this.callOptions
+  ) {
+    const request = new GetPosesRequest({
+      name: this.name,
+      bodyNames,
+      extra: Struct.fromJson(extra),
+    });
+
+    const response = await this.client.getPoses(request, callOptions);
+    return response.bodyPoses;
+  }
 }
diff --git a/src/components/pose-tracker/pose-tracker.ts b/src/components/pose-tracker/pose-tracker.ts
index e606958b6..7fef881c8 100644
--- a/src/components/pose-tracker/pose-tracker.ts
+++ b/src/components/pose-tracker/pose-tracker.ts
@@ -1,4 +1,4 @@
-import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { Geometry, PoseInFrame } from '../../gen/common/v1/common_pb';
 import type { Struct, Resource } from '../../types';
 
 /** Represents a generic component. */
@@ -23,4 +23,9 @@ export interface PoseTracker extends Resource {
    * API](https://docs.viam.com/dev/reference/apis/components/generic/#getgeometries).
    */
   getGeometries: (extra?: Struct) => Promise<Geometry[]>;
+
+  getPoses: (
+    bodyNames?: string[],
+    extra?: Struct
+  ) => Promise<Record<string, PoseInFrame>>;
 }