diff --git a/src/Param.cc b/src/Param.cc
index a18f42106..e1968a275 100644
--- a/src/Param.cc
+++ b/src/Param.cc
@@ -301,7 +301,11 @@ std::string Param::GetAsString() const
 {
   StringStreamClassicLocale ss;
 
-  ss << ParamStreamer{ this->dataPtr->value };
+  if (this->dataPtr->strValue.has_value())
+    ss << this->dataPtr->strValue.value();
+  else
+    ss << ParamStreamer{ this->dataPtr->value };
+
   return ss.str();
 }
 
diff --git a/test/integration/include_custom_model_expected_output.sdf b/test/integration/include_custom_model_expected_output.sdf
index df2dd0d2a..d50a2e11e 100644
--- a/test/integration/include_custom_model_expected_output.sdf
+++ b/test/integration/include_custom_model_expected_output.sdf
@@ -24,9 +24,9 @@
               </box>
             </geometry>
             <material>
-              <ambient>0.5 0.5 1 1</ambient>
-              <diffuse>0.5 0.5 1 1</diffuse>
-              <specular>0 0 1 1</specular>
+              <ambient>0.5 0.5 1.0 1</ambient>
+              <diffuse>0.5 0.5 1.0 1</diffuse>
+              <specular>0.0 0.0 1.0 1</specular>
             </material>
           </visual>
           <collision name='collision'>
@@ -72,12 +72,12 @@
                 <resolution>0.01</resolution>
               </range>
             </lidar>
-            <visualize>1</visualize>
+            <visualize>true</visualize>
             <alwaysOn>1</alwaysOn>
           </sensor> -->
 
           <sensor name='camera' type='camera'>
-            <pose>-1.06 0 0 0 -0 3.14</pose>
+            <pose>-1.06 0 0 0 0 3.14</pose>
             <camera>
               <horizontal_fov>1.047</horizontal_fov>
               <image>
@@ -92,7 +92,7 @@
 
             <!-- removed -->
             <!-- <always_on>1</always_on>
-            <visualize>1</visualize> -->
+            <visualize>true</visualize> -->
 
             <update_rate>30</update_rate>
             <topic>chassis/camera</topic>
@@ -100,7 +100,7 @@
 
           <!-- added -->
           <visual name='camera_visual'>
-            <pose>-1.06 0 0 0 -0 3.14</pose>
+            <pose>-1.06 0 0 0 0 3.14</pose>
             <geometry>
               <box>
                 <size>0.1 0.1 0.1</size>
@@ -110,7 +110,7 @@
         </link>
 
         <link name='top'>
-          <pose>0.6 0 0.7 0 -0 0</pose>
+          <pose>0.6 0 0.7 0 0 0</pose>
 
           <collision name='top_collision'>
             <geometry>
@@ -170,7 +170,7 @@
           </collision> -->
 
           <visual name='camera_visual'>
-            <pose>-0.2 0 0.3 0 -0 3.14</pose>
+            <pose>-0.2 0 0.3 0 0 3.14</pose>
 
             <geometry>
               <sphere>
@@ -205,13 +205,13 @@
           </visual>
 
           <sensor name='cam' type='camera' custom:test='hello'>
-            <pose relative_to='__model__'>0.1 0.2 0.3 0 -0 0</pose>
+            <pose relative_to='__model__'>0.1 0.2 0.3 0 0 0</pose>
             <camera name='top_camera'>
           <!-- modified with above -->
           <!-- <sensor name='camera' type='camera'>
             <pose>-0.2 0 0.3 0 -0 0</pose>
             <camera> -->
-              <horizontal_fov>1.047</horizontal_fov>
+              <horizontal_fov>1.0469999999999999</horizontal_fov>
               <image>
                 <width>1280</width>
                 <!-- modified with above -->
@@ -232,7 +232,7 @@
             <update_rate>20</update_rate>
             <!-- modified with above -->
             <!-- <update_rate>30</update_rate> -->
-            <visualize>1</visualize>
+            <visualize>true</visualize>
             <topic>top/cam</topic>
             <!-- modified with above -->
             <!-- <topic>top/camera</topic> -->
@@ -332,7 +332,7 @@
 
         </link>
         <link name='caster'>
-          <pose relative_to='right_wheel'>0 0 0 0 0 0</pose>
+          <pose relative_to='right_wheel'>0 0 0 0 -0 0</pose>
           <!-- modified with above -->
           <!-- <pose relative_to='__model__'>-0.957138 -0 -0.125 0 -0 0</pose> -->
           <inertial>
@@ -408,7 +408,7 @@
         </joint>
 
         <model name='nested_models'>
-          <pose relative_to='caster'>1 1 1 0 -0 0</pose>
+          <pose relative_to='caster'>1 1 1 0 0 0</pose>
           <!-- modified with above -->
           <!-- <pose relative_to='__model__'>0 0 0 0 -0 0</pose> -->
           <model name='model1'>
@@ -429,7 +429,7 @@
 
         <!-- added -->
         <link name='new_link'>
-          <pose>0 0 0 0 -0 0</pose>
+          <pose>0 0 0 0 0 0</pose>
           <sensor name='camera_sensor' type='camera'>
             <camera>
               <horizontal_fov>1.047</horizontal_fov>
@@ -444,7 +444,7 @@
             </camera>
             <always_on>1</always_on>
             <update_rate>30</update_rate>
-            <visualize>1</visualize>
+            <visualize>true</visualize>
           </sensor>
         </link>
 
diff --git a/test/integration/include_custom_nested_model_expected_output.sdf b/test/integration/include_custom_nested_model_expected_output.sdf
index 08eea7116..b8dfc81d7 100644
--- a/test/integration/include_custom_nested_model_expected_output.sdf
+++ b/test/integration/include_custom_nested_model_expected_output.sdf
@@ -11,7 +11,7 @@
               <ixx>0.126164</ixx>
               <ixy>0</ixy>
               <ixz>0</ixz>
-              <iyy>0.41651899999999997</iyy>
+              <iyy>0.416519</iyy>
               <iyz>0</iyz>
               <izz>0.481014</izz>
             </inertia>
@@ -23,9 +23,9 @@
               </box>
             </geometry>
             <material>
-              <ambient>0.5 0.5 1 1</ambient>
-              <diffuse>0.5 0.5 1 1</diffuse>
-              <specular>0 0 1 1</specular>
+              <ambient>0.5 0.5 1.0 1</ambient>
+              <diffuse>0.5 0.5 1.0 1</diffuse>
+              <specular>0.0 0.0 1.0 1</specular>
             </material>
           </visual>
           <collision name='collision'>
@@ -73,32 +73,32 @@
                 <resolution>0.01</resolution>
               </range>
             </lidar>
-            <visualize>1</visualize>
+            <visualize>true</visualize>
             <alwaysOn>1</alwaysOn>
           </sensor> -->
 
           <sensor name='camera' type='camera'>
-            <pose>-1.06 0 0 0 -0 3.14</pose>
+            <pose>-1.06 0 0 0 0 3.14</pose>
             <camera>
-              <horizontal_fov>1.0469999999999999</horizontal_fov>
+              <horizontal_fov>1.047</horizontal_fov>
               <image>
                 <width>320</width>
                 <height>240</height>
               </image>
               <clip>
-                <near>0.10000000000000001</near>
+                <near>0.1</near>
                 <far>100</far>
               </clip>
             </camera>
             <always_on>1</always_on>
             <update_rate>30</update_rate>
-            <visualize>1</visualize>
+            <visualize>true</visualize>
             <topic>chassis/camera</topic>
           </sensor>
 
           <!-- added -->
           <visual name="camera_visual">
-            <pose>-1.06 0 0 0 -0 3.14</pose>
+            <pose>-1.06 0 0 0 0 3.14</pose>
             <geometry>
               <box>
                 <size>0.1 0.1 0.1</size>
@@ -108,7 +108,7 @@
         </link>
         <model name='top_model'>
           <link name='top'>
-            <pose>0.6 0 0.7 0 -0 0</pose>
+            <pose>0.6 0 0.7 0 0 0</pose>
             <collision name='top_collision'>
               <geometry>
                 <box>
@@ -132,7 +132,7 @@
           <model name='top_camera'>
             <link name='top_camera_link'>
               <visual name='camera_visual'>
-                <pose>-0.2 0 0.3 0 -0 3.14</pose>
+                <pose>-0.2 0 0.3 0 0 3.14</pose>
                 <geometry>
                   <sphere>
                     <radius>0.05</radius>
@@ -154,17 +154,17 @@
                 </material>
               </visual>
               <sensor name='camera' type='camera'>
-                <pose>0 0 0 0 -0 3.14</pose>
+                <pose>0 0 0 0 0 3.14</pose>
                 <!-- modified with above -->
                 <!-- <pose>-0.2 0 0.3 0 -0 0</pose> -->
                 <camera>
-                  <horizontal_fov>1.0469999999999999</horizontal_fov>
+                  <horizontal_fov>1.047</horizontal_fov>
                   <image>
                     <width>320</width>
                     <height>240</height>
                   </image>
                   <clip>
-                    <near>0.10000000000000001</near>
+                    <near>0.1</near>
                     <far>100</far>
                   </clip>
                 </camera>
@@ -172,21 +172,21 @@
                 <update_rate>60</update_rate>
                 <!-- modified with above -->
                 <!-- <update_rate>30</update_rate> -->
-                <visualize>1</visualize>
+                <visualize>true</visualize>
                 <topic>top/camera</topic>
               </sensor>
 
               <!-- added -->
               <collision name='camera_collision'>
-                <pose>-0.2 0 0.3 0 -0 3.14</pose>
+                <pose>-0.2 0 0.3 0 0 3.14</pose>
                 <geometry>
                   <sphere>
-                    <radius>0.050000000000000003</radius>
+                    <radius>0.05</radius>
                   </sphere>
                 </geometry>
               </collision>
             </link>
-            <pose relative_to='top'>0 0 0 0 -0 0</pose>
+            <pose relative_to='top'>0 0 0 0 0 0</pose>
           </model>
           <joint name='top_to_camera' type='fixed'>
             <parent>top</parent>
@@ -199,14 +199,14 @@
         </joint>
         <model name='left_wheel'>
           <link name='wheel_link'>
-            <pose>0 0 0 0 -0 0</pose>
+            <pose>0 0 0 0 0 0</pose>
             <inertial>
               <mass>2</mass>
               <inertia>
-                <ixx>0.14583299999999999</ixx>
+                <ixx>0.145833</ixx>
                 <ixy>0</ixy>
                 <ixz>0</ixz>
-                <iyy>0.14583299999999999</iyy>
+                <iyy>0.145833</iyy>
                 <iyz>0</iyz>
                 <izz>0.125</izz>
               </inertia>
@@ -214,7 +214,7 @@
             <visual name='visual'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
               <material>
@@ -226,7 +226,7 @@
             <collision name='collision'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
             </collision>
@@ -235,14 +235,14 @@
         </model>
         <model name='right_wheel'>
           <link name='wheel_link'>
-            <pose>0 0 0 0 -0 0</pose>
+            <pose>0 0 0 0 0 0</pose>
             <inertial>
               <mass>2</mass>
               <inertia>
-                <ixx>0.14583299999999999</ixx>
+                <ixx>0.145833</ixx>
                 <ixy>0</ixy>
                 <ixz>0</ixz>
-                <iyy>0.14583299999999999</iyy>
+                <iyy>0.145833</iyy>
                 <iyz>0</iyz>
                 <izz>0.125</izz>
               </inertia>
@@ -250,7 +250,7 @@
             <visual name='visual'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
               <material>
@@ -262,7 +262,7 @@
             <collision name='collision'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
             </collision>
@@ -271,14 +271,14 @@
         </model>
         <model name='caster'>
           <link name='wheel_link'>
-            <pose>0 0 0 0 -0 0</pose>
+            <pose>0 0 0 0 0 0</pose>
             <inertial>
               <mass>2</mass>
               <inertia>
-                <ixx>0.14583299999999999</ixx>
+                <ixx>0.145833</ixx>
                 <ixy>0</ixy>
                 <ixz>0</ixz>
-                <iyy>0.14583299999999999</iyy>
+                <iyy>0.145833</iyy>
                 <iyz>0</iyz>
                 <izz>0.125</izz>
               </inertia>
@@ -286,7 +286,7 @@
             <visual name='visual'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
               <material>
@@ -298,7 +298,7 @@
             <collision name='collision'>
               <geometry>
                 <sphere>
-                  <radius>0.29999999999999999</radius>
+                  <radius>0.3</radius>
                 </sphere>
               </geometry>
             </collision>
@@ -311,8 +311,8 @@
           <axis>
             <xyz>0 0 1</xyz>
             <limit>
-              <lower>-1.7976900000000001e+308</lower>
-              <upper>1.7976900000000001e+308</upper>
+              <lower>-1.79769e+308</lower>
+              <upper>1.79769e+308</upper>
             </limit>
           </axis>
         </joint>
@@ -322,8 +322,8 @@
           <axis>
             <xyz>0 0 1</xyz>
             <limit>
-              <lower>-1.7976900000000001e+308</lower>
-              <upper>1.7976900000000001e+308</upper>
+              <lower>-1.79769e+308</lower>
+              <upper>1.79769e+308</upper>
             </limit>
           </axis>
         </joint>
diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf
index 8358e2519..3b4e7a8d3 100644
--- a/test/integration/nested_model_with_frames_expected.sdf
+++ b/test/integration/nested_model_with_frames_expected.sdf
@@ -4,7 +4,7 @@
     <model name='ParentModel'>
       <model name='M1'>
         <frame name='F1'>
-          <pose>0 0 0 1.5708 -0 0</pose>
+          <pose>0 0 0 1.570796 0 0</pose>
         </frame>
         <frame name='F2'>
           <pose relative_to='F1'>0 0 0 0 0.785398 0</pose>
@@ -29,13 +29,13 @@
           </collision>
         </link>
         <link name='L2'>
-          <pose relative_to='F1'>1 0 0 0 -0 0</pose>
+          <pose relative_to='F1'>1 0 0 0 0 0</pose>
         </link>
         <link name='L3'>
-          <pose relative_to='L2'>0 1 0 0 -0 0</pose>
+          <pose relative_to='L2'>0 1 0 0 0 0</pose>
         </link>
         <link name='L4'>
-          <pose relative_to='__model__'>0 0 1 0 -0 0</pose>
+          <pose relative_to='__model__'>0 0 1 0 0 0</pose>
         </link>
         <joint name='J1' type='universal'>
           <pose relative_to='L1'>0 0 0 0 -0 0</pose>
@@ -49,7 +49,7 @@
           </axis2>
         </joint>
         <joint name='J2' type='revolute'>
-          <pose>0 0 1 0 -0 0</pose>
+          <pose>0 0 1 0 0 0</pose>
           <parent>L2</parent>
           <child>L3</child>
           <axis>
@@ -57,14 +57,14 @@
           </axis>
         </joint>
         <joint name='J3' type='fixed'>
-          <pose relative_to='__model__'>1 0 1 0 -0 0</pose>
+          <pose relative_to='__model__'>1 0 1 0 0 0</pose>
           <parent>L3</parent>
           <child>L4</child>
         </joint>
         <model name='M2'>
-          <pose relative_to='F1'>1 0 0 0 -0 0</pose>
+          <pose relative_to='F1'>1 0 0 0 0 0</pose>
           <link name='L5'>
-            <pose>1 0 0 0 -0 0</pose>
+            <pose>1 0 0 0 0 0</pose>
           </link>
         </model>
         <pose>10 0 0 0 -0 1.5708</pose>
diff --git a/test/integration/pose_1_9_sdf.cc b/test/integration/pose_1_9_sdf.cc
index 4667c67dc..b315bb62c 100644
--- a/test/integration/pose_1_9_sdf.cc
+++ b/test/integration/pose_1_9_sdf.cc
@@ -402,3 +402,98 @@ TEST(Pose1_9, ChangingAttributeOfParentElement)
   ASSERT_TRUE(valParam->Get<Pose>(val));
   EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
 }
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ToStringWithoutAttrib)
+{
+  sdf::ElementPtr poseElem(new sdf::Element);
+  poseElem->SetName("pose");
+  poseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  poseElem->AddAttribute("relative_to", "string", "", false);
+  poseElem->AddAttribute("degrees", "bool", "false", false);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+  EXPECT_TRUE(poseValueParam->SetFromString("1 2 3  0.4 0.5 0.6"));
+
+  std::string elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ToStringWithDegreesFalse)
+{
+  sdf::ElementPtr poseElem(new sdf::Element);
+  poseElem->SetName("pose");
+  poseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  poseElem->AddAttribute("relative_to", "string", "", false);
+  poseElem->AddAttribute("degrees", "bool", "false", false);
+
+  sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees");
+  ASSERT_NE(nullptr, degreesAttrib);
+  ASSERT_TRUE(degreesAttrib->Set<bool>(false));
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+  EXPECT_TRUE(poseValueParam->SetFromString("1 2 3  0.4 0.5 0.6"));
+
+  std::string elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "degrees='0'");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ToStringWithDegreesTrue)
+{
+  sdf::ElementPtr poseElem(new sdf::Element);
+  poseElem->SetName("pose");
+  poseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  poseElem->AddAttribute("relative_to", "string", "", false);
+  poseElem->AddAttribute("degrees", "bool", "false", false);
+
+  sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees");
+  ASSERT_NE(nullptr, degreesAttrib);
+  ASSERT_TRUE(degreesAttrib->Set<bool>(true));
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+  EXPECT_TRUE(poseValueParam->SetFromString("1 2 3  0.4 0.5 0.6"));
+
+  std::string elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "degrees='1'");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ToStringAfterChangingDegreeAttribute)
+{
+  using Pose = ignition::math::Pose3d;
+
+  sdf::ElementPtr poseElem(new sdf::Element);
+  poseElem->SetName("pose");
+  poseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  poseElem->AddAttribute("relative_to", "string", "", false);
+  poseElem->AddAttribute("degrees", "bool", "false", false);
+
+  // Param value in radians
+  sdf::ParamPtr valParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, valParam);
+  ASSERT_TRUE(valParam->SetFromString("1 2 3 0.4 0.5 0.6"));
+
+  std::string elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+
+  // Changing to degrees
+  sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees");
+  ASSERT_NE(nullptr, degreesAttrib);
+  ASSERT_TRUE(degreesAttrib->Set<bool>(true));
+  elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "degrees='1'");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+
+  // Changing back to radians
+  ASSERT_TRUE(degreesAttrib->Set<bool>(false));
+  elemStr = poseElem->ToString("");
+  EXPECT_PRED2(contains, elemStr, "degrees='0'");
+  EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6");
+}
diff --git a/test/integration/two_level_nested_model_with_frames_expected.sdf b/test/integration/two_level_nested_model_with_frames_expected.sdf
index a73e206d2..d907410ac 100644
--- a/test/integration/two_level_nested_model_with_frames_expected.sdf
+++ b/test/integration/two_level_nested_model_with_frames_expected.sdf
@@ -5,7 +5,7 @@
       <model name='M1'>
         <model name='test_model_with_frames'>
           <frame name='F1'>
-            <pose>0 0 0 1.5708 -0 0</pose>
+            <pose>0 0 0 1.570796 0 0</pose>
           </frame>
           <frame name='F2'>
             <pose relative_to='F1'>0 0 0 0 0.785398 0</pose>
@@ -30,13 +30,13 @@
             </collision>
           </link>
           <link name='L2'>
-            <pose relative_to='F1'>1 0 0 0 -0 0</pose>
+            <pose relative_to='F1'>1 0 0 0 0 0</pose>
           </link>
           <link name='L3'>
-            <pose relative_to='L2'>0 1 0 0 -0 0</pose>
+            <pose relative_to='L2'>0 1 0 0 0 0</pose>
           </link>
           <link name='L4'>
-            <pose relative_to='__model__'>0 0 1 0 -0 0</pose>
+            <pose relative_to='__model__'>0 0 1 0 0 0</pose>
           </link>
           <joint name='J1' type='universal'>
             <pose relative_to='L1'>0 0 0 0 -0 0</pose>
@@ -50,7 +50,7 @@
             </axis2>
           </joint>
           <joint name='J2' type='revolute'>
-            <pose>0 0 1 0 -0 0</pose>
+            <pose>0 0 1 0 0 0</pose>
             <parent>L2</parent>
             <child>L3</child>
             <axis>
@@ -58,17 +58,17 @@
             </axis>
           </joint>
           <joint name='J3' type='fixed'>
-            <pose relative_to='__model__'>1 0 1 0 -0 0</pose>
+            <pose relative_to='__model__'>1 0 1 0 0 0</pose>
             <parent>L3</parent>
             <child>L4</child>
           </joint>
           <model name='M2'>
-            <pose relative_to='F1'>1 0 0 0 -0 0</pose>
+            <pose relative_to='F1'>1 0 0 0 0 0</pose>
             <link name='L5'>
-              <pose>1 0 0 0 -0 0</pose>
+              <pose>1 0 0 0 0 0</pose>
             </link>
           </model>
-          <pose>0 10 0 1.5708 -0 0</pose>
+          <pose>0 10 0 1.570796326794895 0 0</pose>
         </model>
         <pose>10 0 0 0 -0 1.5708</pose>
       </model>