diff --git a/include/sdf/Element.hh b/include/sdf/Element.hh
index d9fa9eb92..dddfad993 100644
--- a/include/sdf/Element.hh
+++ b/include/sdf/Element.hh
@@ -243,6 +243,10 @@ namespace sdf
     /// \return The number of attributes.
     public: size_t GetAttributeCount() const;
 
+    /// \brief Get all the attribute params.
+    /// \return The vector of parameter attributes.
+    public: const Param_V &GetAttributes() const;
+
     /// \brief Get an attribute using an index.
     /// \param[in] _index the index of the attribute to get.
     /// \return A Param pointer to the attribute.
diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh
index c59fb683d..eca2a8573 100644
--- a/include/sdf/Param.hh
+++ b/include/sdf/Param.hh
@@ -53,6 +53,10 @@ namespace sdf
   inline namespace SDF_VERSION_NAMESPACE {
   //
 
+  class SDFORMAT_VISIBLE Element;
+  using ElementPtr = std::shared_ptr<Element>;
+  using ElementWeakPtr = std::weak_ptr<Element>;
+
   class SDFORMAT_VISIBLE Param;
 
   /// \def ParamPtr
@@ -180,13 +184,44 @@ namespace sdf
     /// of the parameter. nullopt otherwise.
     public: std::optional<std::string> GetMaxValueAsString() const;
 
+    /// \brief Set the parameter value from a string.
+    /// \param[in] _value New value for the parameter in string form.
+    /// \param[in] _ignoreParentAttributes Whether to ignore parent element
+    /// attributes when parsing value from string as well as subsequent
+    /// reparses.
+    public: bool SetFromString(const std::string &_value,
+                               bool _ignoreParentAttributes);
+
     /// \brief Set the parameter value from a string.
     /// \param[in] _value New value for the parameter in string form.
     public: bool SetFromString(const std::string &_value);
 
+    /// \brief Get the parent Element of this Param.
+    /// \return Pointer to this Param's parent Element, nullptr if there is no
+    /// parent Element.
+    public: ElementPtr GetParentElement() const;
+
+    /// \brief Set the parent Element of this Param.
+    /// \param[in] _parentElement Pointer to new parent Element. A nullptr can
+    /// provided to remove the current parent Element.
+    public: void SetParentElement(ElementPtr _parentElement);
+
     /// \brief Reset the parameter to the default value.
     public: void Reset();
 
+    /// \brief Reparse the parameter value. This should be called after the
+    /// parent element's attributes have been modified, in the event that the
+    /// value was set using SetFromString or posesses a default value, and that
+    /// the final parsed value is dependent on the attributes of the parent
+    /// element. For example, the rotation component of a pose element can
+    /// be parsed as degrees or radians, depending on the attribute @degrees
+    /// of the parent element. If however the value was explicitly set using the
+    /// Set<T> function, reparsing would not change the value.
+    /// \return True if the parameter value has been reparsed successfully.
+    /// \sa bool SetFromString(const std::string &_value)
+    /// \sa bool Set(const T &_value)
+    public: bool Reparse();
+
     /// \brief Get the key value.
     /// \return The key.
     public: const std::string &GetKey() const;
@@ -209,6 +244,12 @@ namespace sdf
     /// \return True if the parameter has been set.
     public: bool GetSet() const;
 
+    /// \brief Return true if the parameter ignores the parent element's
+    /// attributes, or if the parameter has no parent element.
+    /// \return True if the parameter ignores the parent element's attributes,
+    /// or if the parameter has no parent element.
+    public: bool IgnoresParentElementAttribute() const;
+
     /// \brief Clone the parameter.
     /// \return A new parameter that is the clone of this.
     public: ParamPtr Clone() const;
@@ -301,6 +342,9 @@ namespace sdf
     /// \brief Description of the parameter.
     public: std::string description;
 
+    /// \brief Parent element.
+    public: ElementWeakPtr parentElement;
+
     /// \brief Update function pointer.
     public: std::function<std::any ()> updateFunc;
 
@@ -319,6 +363,14 @@ namespace sdf
     /// \brief This parameter's value
     public: ParamVariant value;
 
+    /// \brief True if the value has been parsed while ignoring its parent
+    /// element's attributes, and will continue to ignore them for subsequent
+    /// reparses.
+    public: bool ignoreParentAttributes;
+
+    /// \brief This parameter's value that was provided as a string
+    public: std::optional<std::string> strValue;
+
     /// \brief This parameter's default value
     public: ParamVariant defaultValue;
 
@@ -399,7 +451,7 @@ namespace sdf
     {
       std::stringstream ss;
       ss << _value;
-      return this->SetFromString(ss.str());
+      return this->SetFromString(ss.str(), true);
     }
     catch(...)
     {
diff --git a/sdf/1.9/pose.sdf b/sdf/1.9/pose.sdf
index 523f0894b..c98958ffe 100644
--- a/sdf/1.9/pose.sdf
+++ b/sdf/1.9/pose.sdf
@@ -1,11 +1,19 @@
 <!-- Pose -->
-<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
-  <description>A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.</description>
+<element name="pose" type="pose" default="0 0 0   0 0 0" required="0">
+  <description>
+    A pose (x, y, z, r, p, y) expressed in the frame named by @relative_to. The first three components (x, y, z) represent the position of the element's origin (in the @relative_to frame) and the last three components (roll, pitch, yaw) represent the orientation of the element as a sequence of intrinsic Euler rotations.
+  </description>
 
-  <attribute name="relative_to" type="string" default="" required="*">
+  <attribute name="relative_to" type="string" default="" required="0">
     <description>
       Name of frame relative to which the pose is applied.
     </description>
   </attribute>
 
+  <attribute name="degrees" type="bool" default="false" required="0">
+    <description>
+      Whether or not the euler angles are in degrees, otherwise they will be interpreted as radians by default.
+    </description>
+  </attribute>
+
 </element> <!-- End Pose -->
diff --git a/src/Element.cc b/src/Element.cc
index bb6d748f4..0be5fd657 100644
--- a/src/Element.cc
+++ b/src/Element.cc
@@ -152,6 +152,7 @@ void Element::AddValue(const std::string &_type,
   this->dataPtr->value =
       std::make_shared<Param>(this->dataPtr->name, _type, _defaultValue,
                               _required, _minValue, _maxValue, _description);
+  this->dataPtr->value->SetParentElement(shared_from_this());
 }
 
 /////////////////////////////////////////////////
@@ -161,8 +162,10 @@ ParamPtr Element::CreateParam(const std::string &_key,
                               bool _required,
                               const std::string &_description)
 {
-  return ParamPtr(
-      new Param(_key, _type, _defaultValue, _required, _description));
+  ParamPtr param = std::make_shared<Param>(
+      _key, _type, _defaultValue, _required, _description);
+  param->SetParentElement(shared_from_this());
+  return param;
 }
 
 /////////////////////////////////////////////////
@@ -195,7 +198,9 @@ ElementPtr Element::Clone() const
   for (aiter = this->dataPtr->attributes.begin();
        aiter != this->dataPtr->attributes.end(); ++aiter)
   {
-    clone->dataPtr->attributes.push_back((*aiter)->Clone());
+    auto clonedAttribute = (*aiter)->Clone();
+    clonedAttribute->SetParentElement(clone);
+    clone->dataPtr->attributes.push_back(clonedAttribute);
   }
 
   ElementPtr_V::const_iterator eiter;
@@ -215,6 +220,7 @@ ElementPtr Element::Clone() const
   if (this->dataPtr->value)
   {
     clone->dataPtr->value = this->dataPtr->value->Clone();
+    clone->dataPtr->value->SetParentElement(clone);
   }
 
   if (this->dataPtr->includeElement)
@@ -248,6 +254,7 @@ void Element::Copy(const ElementPtr _elem)
     }
     ParamPtr param = this->GetAttribute((*iter)->GetKey());
     (*param) = (**iter);
+    param->SetParentElement(shared_from_this());
   }
 
   if (_elem->GetValue())
@@ -260,6 +267,7 @@ void Element::Copy(const ElementPtr _elem)
     {
       *(this->dataPtr->value) = *(_elem->GetValue());
     }
+    this->dataPtr->value->SetParentElement(shared_from_this());
   }
 
   this->dataPtr->elementDescriptions.clear();
@@ -657,6 +665,12 @@ size_t Element::GetAttributeCount() const
   return this->dataPtr->attributes.size();
 }
 
+/////////////////////////////////////////////////
+const Param_V &Element::GetAttributes() const
+{
+  return this->dataPtr->attributes;
+}
+
 /////////////////////////////////////////////////
 ParamPtr Element::GetAttribute(unsigned int _index) const
 {
diff --git a/src/Element_TEST.cc b/src/Element_TEST.cc
index 8de937577..de58a067f 100644
--- a/src/Element_TEST.cc
+++ b/src/Element_TEST.cc
@@ -191,40 +191,42 @@ TEST(Element, ReferenceSDF)
 /////////////////////////////////////////////////
 TEST(Element, AddValue)
 {
-  sdf::Element elem;
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
 
-  elem.SetName("test");
-  elem.AddValue("string", "foo", false, "foo description");
+  elem->SetName("test");
+  elem->AddValue("string", "foo", false, "foo description");
 
-  sdf::ParamPtr param = elem.GetValue();
+  sdf::ParamPtr param = elem->GetValue();
   ASSERT_TRUE(param->IsType<std::string>());
   ASSERT_EQ(param->GetKey(), "test");
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "foo");
   ASSERT_EQ(param->GetDescription(), "foo description");
+  ASSERT_NE(param->GetParentElement(), nullptr);
+  EXPECT_EQ(param->GetParentElement(), elem);
 }
 
 /////////////////////////////////////////////////
 TEST(Element, AddAttribute)
 {
-  sdf::Element elem;
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
 
-  ASSERT_EQ(elem.GetAttributeCount(), 0UL);
+  ASSERT_EQ(elem->GetAttributeCount(), 0UL);
 
-  elem.AddAttribute("test", "string", "foo", false, "foo description");
-  ASSERT_EQ(elem.GetAttributeCount(), 1UL);
+  elem->AddAttribute("test", "string", "foo", false, "foo description");
+  ASSERT_EQ(elem->GetAttributeCount(), 1UL);
 
-  elem.AddAttribute("attr", "float", "0.0", false, "float description");
-  ASSERT_EQ(elem.GetAttributeCount(), 2UL);
+  elem->AddAttribute("attr", "float", "0.0", false, "float description");
+  ASSERT_EQ(elem->GetAttributeCount(), 2UL);
 
-  sdf::ParamPtr param = elem.GetAttribute("test");
+  sdf::ParamPtr param = elem->GetAttribute("test");
   ASSERT_TRUE(param->IsType<std::string>());
   ASSERT_EQ(param->GetKey(), "test");
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "foo");
   ASSERT_EQ(param->GetDescription(), "foo description");
 
-  param = elem.GetAttribute("attr");
+  param = elem->GetAttribute("attr");
   ASSERT_TRUE(param->IsType<float>());
   ASSERT_EQ(param->GetKey(), "attr");
   ASSERT_EQ(param->GetTypeName(), "float");
@@ -235,48 +237,48 @@ TEST(Element, AddAttribute)
 /////////////////////////////////////////////////
 TEST(Element, GetAttributeSet)
 {
-  sdf::Element elem;
-  ASSERT_EQ(elem.GetAttributeCount(), 0UL);
-  elem.AddAttribute("test", "string", "foo", false, "foo description");
-  ASSERT_EQ(elem.GetAttributeCount(), 1UL);
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
+  ASSERT_EQ(elem->GetAttributeCount(), 0UL);
+  elem->AddAttribute("test", "string", "foo", false, "foo description");
+  ASSERT_EQ(elem->GetAttributeCount(), 1UL);
 
-  EXPECT_FALSE(elem.GetAttributeSet("test"));
-  elem.GetAttribute("test")->Set("asdf");
-  EXPECT_TRUE(elem.GetAttributeSet("test"));
+  EXPECT_FALSE(elem->GetAttributeSet("test"));
+  elem->GetAttribute("test")->Set("asdf");
+  EXPECT_TRUE(elem->GetAttributeSet("test"));
 }
 
 /////////////////////////////////////////////////
 TEST(Element, RemoveAttribute)
 {
-  sdf::Element elem;
-  ASSERT_EQ(elem.GetAttributeCount(), 0UL);
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
+  ASSERT_EQ(elem->GetAttributeCount(), 0UL);
 
-  elem.AddAttribute("test", "string", "foo", false, "foo description");
-  elem.AddAttribute("attr", "float", "0.0", false, "float description");
-  ASSERT_EQ(elem.GetAttributeCount(), 2UL);
+  elem->AddAttribute("test", "string", "foo", false, "foo description");
+  elem->AddAttribute("attr", "float", "0.0", false, "float description");
+  ASSERT_EQ(elem->GetAttributeCount(), 2UL);
 
-  elem.RemoveAttribute("test");
-  EXPECT_EQ(elem.GetAttributeCount(), 1UL);
-  EXPECT_EQ(elem.GetAttribute("test"), nullptr);
-  EXPECT_NE(elem.GetAttribute("attr"), nullptr);
+  elem->RemoveAttribute("test");
+  EXPECT_EQ(elem->GetAttributeCount(), 1UL);
+  EXPECT_EQ(elem->GetAttribute("test"), nullptr);
+  EXPECT_NE(elem->GetAttribute("attr"), nullptr);
 }
 
 /////////////////////////////////////////////////
 TEST(Element, RemoveAllAttributes)
 {
-  sdf::Element elem;
-  ASSERT_EQ(elem.GetAttributeCount(), 0UL);
-
-  elem.AddAttribute("test", "string", "foo", false, "foo description");
-  elem.AddAttribute("test2", "string", "foo", false, "foo description");
-  elem.AddAttribute("attr", "float", "0.0", false, "float description");
-  ASSERT_EQ(elem.GetAttributeCount(), 3UL);
-
-  elem.RemoveAllAttributes();
-  EXPECT_EQ(elem.GetAttributeCount(), 0UL);
-  EXPECT_EQ(elem.GetAttribute("test"), nullptr);
-  EXPECT_EQ(elem.GetAttribute("test2"), nullptr);
-  EXPECT_EQ(elem.GetAttribute("attr"), nullptr);
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
+  ASSERT_EQ(elem->GetAttributeCount(), 0UL);
+
+  elem->AddAttribute("test", "string", "foo", false, "foo description");
+  elem->AddAttribute("test2", "string", "foo", false, "foo description");
+  elem->AddAttribute("attr", "float", "0.0", false, "float description");
+  ASSERT_EQ(elem->GetAttributeCount(), 3UL);
+
+  elem->RemoveAllAttributes();
+  EXPECT_EQ(elem->GetAttributeCount(), 0UL);
+  EXPECT_EQ(elem->GetAttribute("test"), nullptr);
+  EXPECT_EQ(elem->GetAttribute("test2"), nullptr);
+  EXPECT_EQ(elem->GetAttribute("attr"), nullptr);
 }
 
 /////////////////////////////////////////////////
@@ -397,6 +399,9 @@ TEST(Element, Clone)
   sdf::ElementPtr child = std::make_shared<sdf::Element>();
   sdf::ElementPtr desc = std::make_shared<sdf::Element>();
 
+  parent->SetName("parent");
+  child->SetName("child");
+
   parent->InsertElement(child);
   ASSERT_NE(parent->GetFirstElement(), nullptr);
 
@@ -430,6 +435,15 @@ TEST(Element, Clone)
   ASSERT_NE(newelem->GetIncludeElement(), nullptr);
   EXPECT_EQ("include", newelem->GetIncludeElement()->GetName());
   ASSERT_TRUE(newelem->GetExplicitlySetInFile());
+
+  ASSERT_NE(nullptr, parent->GetValue()->GetParentElement());
+  EXPECT_EQ(parent, parent->GetValue()->GetParentElement());
+
+  ASSERT_NE(nullptr, newelem->GetValue()->GetParentElement());
+  EXPECT_EQ(newelem, newelem->GetValue()->GetParentElement());
+
+  auto clonedAttribs = newelem->GetAttributes();
+  EXPECT_EQ(newelem, clonedAttribs[0]->GetParentElement());
 }
 
 /////////////////////////////////////////////////
@@ -683,16 +697,16 @@ TEST(Element, DocLeftPane)
 /////////////////////////////////////////////////
 TEST(Element, DocRightPane)
 {
-  sdf::Element elem;
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
 
-  elem.SetDescription("Element description");
-  elem.AddAttribute("test", "string", "foo", false, "foo description");
-  elem.AddValue("string", "val", false, "val description");
-  elem.AddElementDescription(std::make_shared<sdf::Element>());
+  elem->SetDescription("Element description");
+  elem->AddAttribute("test", "string", "foo", false, "foo description");
+  elem->AddValue("string", "val", false, "val description");
+  elem->AddElementDescription(std::make_shared<sdf::Element>());
 
   std::string html;
   int index = 1;
-  elem.PrintDocRightPane(html, 0, index);
+  elem->PrintDocRightPane(html, 0, index);
   ASSERT_EQ(html,
             "<a name=\"1\">&lt&gt</a><div style='padding-left:0px;'>\n"
             "<div style='background-color: #ffffff'>\n"
@@ -741,11 +755,11 @@ TEST(Element, SetEmpty)
 /////////////////////////////////////////////////
 TEST(Element, Set)
 {
-  sdf::Element elem;
+  sdf::ElementPtr elem = std::make_shared<sdf::Element>();
 
-  elem.AddValue("string", "val", false, "val description");
+  elem->AddValue("string", "val", false, "val description");
 
-  ASSERT_TRUE(elem.Set<std::string>("hello"));
+  ASSERT_TRUE(elem->Set<std::string>("hello"));
 }
 
 /////////////////////////////////////////////////
@@ -781,6 +795,8 @@ TEST(Element, Copy)
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "val");
   ASSERT_EQ(param->GetDescription(), "val description");
+  ASSERT_NE(param->GetParentElement(), nullptr);
+  EXPECT_EQ(param->GetParentElement(), dest);
 
   ASSERT_EQ(dest->GetAttributeCount(), 1UL);
   ASSERT_TRUE(dest->GetExplicitlySetInFile());
@@ -790,6 +806,8 @@ TEST(Element, Copy)
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "foo");
   ASSERT_EQ(param->GetDescription(), "foo description");
+  ASSERT_NE(param->GetParentElement(), nullptr);
+  EXPECT_EQ(param->GetParentElement(), dest);
 
   ASSERT_NE(dest->GetFirstElement(), nullptr);
   ASSERT_NE(dest->GetIncludeElement(), nullptr);
@@ -815,6 +833,8 @@ TEST(Element, CopyDestValue)
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "val");
   ASSERT_EQ(param->GetDescription(), "val description");
+  ASSERT_NE(param->GetParentElement(), nullptr);
+  EXPECT_EQ(param->GetParentElement(), dest);
 
   ASSERT_EQ(dest->GetAttributeCount(), 1UL);
   param = dest->GetAttribute("test");
@@ -823,6 +843,8 @@ TEST(Element, CopyDestValue)
   ASSERT_EQ(param->GetTypeName(), "string");
   ASSERT_EQ(param->GetDefaultAsString(), "foo");
   ASSERT_EQ(param->GetDescription(), "foo description");
+  ASSERT_NE(param->GetParentElement(), nullptr);
+  EXPECT_EQ(param->GetParentElement(), dest);
 
   ASSERT_NE(dest->GetFirstElement(), nullptr);
 }
diff --git a/src/Param.cc b/src/Param.cc
index 5c3811e51..c658c4a1a 100644
--- a/src/Param.cc
+++ b/src/Param.cc
@@ -22,6 +22,7 @@
 #include <sstream>
 #include <string>
 #include <vector>
+#include <array>
 
 #include <locale.h>
 #include <math.h>
@@ -29,6 +30,7 @@
 #include "sdf/Assert.hh"
 #include "sdf/Param.hh"
 #include "sdf/Types.hh"
+#include "sdf/Element.hh"
 
 using namespace sdf;
 
@@ -68,6 +70,7 @@ Param::Param(const std::string &_key, const std::string &_typeName,
   this->dataPtr->typeName = _typeName;
   this->dataPtr->description = _description;
   this->dataPtr->set = false;
+  this->dataPtr->ignoreParentAttributes = false;
 
   SDF_ASSERT(this->ValueFromString(_default), "Invalid parameter");
   this->dataPtr->defaultValue = this->dataPtr->value;
@@ -102,6 +105,7 @@ Param::Param(const std::string &_key, const std::string &_typeName,
   this->dataPtr->value = valCopy;
 }
 
+//////////////////////////////////////////////////
 Param::Param(const Param &_param)
     : dataPtr(std::make_unique<ParamPrivate>(*_param.dataPtr))
 {
@@ -298,7 +302,11 @@ 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();
 }
 
@@ -427,6 +435,106 @@ bool ParseColorUsingStringStream(const std::string &_input,
   return isValidColor;
 }
 
+//////////////////////////////////////////////////
+/// \brief Helper function for Param::ValueFromString for parsing pose. This
+/// checks the pose components specified in _input are xyzrpy
+/// (expects 6 values) and whether to parse the rotation values as degrees using
+/// the parent element attributes.
+/// \param[in] _input Input string.
+/// \param[in] _key Key of the parameter, used for error message.
+/// \param[in] _attributes Attributes associated to this pose.
+/// \param[out] _value This will be set with the parsed value.
+/// \return True if parsing pose succeeded.
+bool ParsePoseUsingStringStream(const std::string &_input,
+    const std::string &_key, const Param_V &_attributes,
+    ParamPrivate::ParamVariant &_value)
+{
+  StringStreamClassicLocale ss(_input);
+  std::string token;
+  std::array<double, 6> values;
+  std::size_t valueIndex = 0;
+  double v;
+  bool isValidPose = true;
+  while (ss >> token)
+  {
+    try
+    {
+      v = std::stod(token);
+    }
+    // Catch invalid argument exception from std::stod
+    catch(std::invalid_argument &)
+    {
+      sdferr << "Invalid argument. Unable to set value ["<< _input
+             << "] for key [" << _key << "].\n";
+      isValidPose = false;
+      break;
+    }
+    // Catch out of range exception from std::stod
+    catch(std::out_of_range &)
+    {
+      sdferr << "Out of range. Unable to set value [" << token
+             << "] for key [" << _key << "].\n";
+      isValidPose = false;
+      break;
+    }
+
+    if (!std::isfinite(v))
+    {
+      sdferr << "Pose values must be finite.\n";
+      isValidPose = false;
+      break;
+    }
+
+    if (valueIndex >= 6u)
+    {
+      sdferr << "Pose values can only accept 6 values.\n";
+      isValidPose = false;
+      break;
+    }
+
+    values[valueIndex++] = v;
+  }
+
+  if (!isValidPose)
+    return false;
+
+  if (valueIndex != 6u)
+  {
+    sdferr << "The value for //pose must have 6 values, but "
+        << valueIndex << " were found instead.\n";
+    return false;
+  }
+
+  const bool defaultParseAsDegrees = false;
+  bool parseAsDegrees = defaultParseAsDegrees;
+
+  for (const auto &p : _attributes)
+  {
+    if (p->GetKey() == "degrees")
+    {
+      if (!p->Get<bool>(parseAsDegrees))
+      {
+        sdferr << "Invalid boolean value found for attribute "
+            "//pose[@degrees].\n";
+        return false;
+      }
+      break;
+    }
+  }
+
+  if (parseAsDegrees)
+  {
+    _value = ignition::math::Pose3d(values[0], values[1], values[2],
+        IGN_DTOR(values[3]), IGN_DTOR(values[4]), IGN_DTOR(values[5]));
+  }
+  else
+  {
+    _value = ignition::math::Pose3d(values[0], values[1], values[2],
+        values[3], values[4], values[5]);
+  }
+  return true;
+}
+
 //////////////////////////////////////////////////
 bool Param::ValueFromString(const std::string &_value)
 {
@@ -558,8 +666,14 @@ bool ParamPrivate::ValueFromStringImpl(const std::string &_typeName,
     {
       if (!tmp.empty())
       {
-        return ParseUsingStringStream<ignition::math::Pose3d>(
-            tmp, this->key, _valueToSet);
+        const ElementPtr p = this->parentElement.lock();
+        if (!this->ignoreParentAttributes && p)
+        {
+          return ParsePoseUsingStringStream(
+              tmp, this->key, p->GetAttributes(), _valueToSet);
+        }
+        return ParsePoseUsingStringStream(
+            tmp, this->key, {}, _valueToSet);
       }
     }
     else if (_typeName == "ignition::math::Quaterniond" ||
@@ -595,8 +709,11 @@ bool ParamPrivate::ValueFromStringImpl(const std::string &_typeName,
 }
 
 //////////////////////////////////////////////////
-bool Param::SetFromString(const std::string &_value)
+bool Param::SetFromString(const std::string &_value,
+                          bool _ignoreParentAttributes)
 {
+  this->dataPtr->ignoreParentAttributes = _ignoreParentAttributes;
+  this->dataPtr->strValue = _value;
   std::string str = sdf::trim(_value.c_str());
 
   if (str.empty() && this->dataPtr->required)
@@ -628,13 +745,60 @@ bool Param::SetFromString(const std::string &_value)
   return this->dataPtr->set;
 }
 
+//////////////////////////////////////////////////
+bool Param::SetFromString(const std::string &_value)
+{
+  return this->SetFromString(_value, false);
+}
+
+//////////////////////////////////////////////////
+ElementPtr Param::GetParentElement() const
+{
+  return this->dataPtr->parentElement.lock();
+}
+
+//////////////////////////////////////////////////
+void Param::SetParentElement(ElementPtr _parentElement)
+{
+  this->dataPtr->parentElement = _parentElement;
+  this->Reparse();
+}
+
 //////////////////////////////////////////////////
 void Param::Reset()
 {
   this->dataPtr->value = this->dataPtr->defaultValue;
+  this->dataPtr->strValue = std::nullopt;
   this->dataPtr->set = false;
 }
 
+//////////////////////////////////////////////////
+bool Param::Reparse()
+{
+  if (!this->dataPtr->strValue.has_value())
+    return false;
+
+  const std::string strVal = this->dataPtr->strValue.value();
+  if (!this->SetFromString(strVal, this->dataPtr->ignoreParentAttributes))
+  {
+    if (const auto parentElement = this->dataPtr->parentElement.lock())
+    {
+      sdferr << "Failed to set value '" << strVal << "' to key ["
+          << this->GetKey() << "] for new parent element of name '"
+          << parentElement->GetName() << "', reverting to previous value '"
+          << this->GetAsString() << "'.\n";
+    }
+    else
+    {
+      sdferr << "Failed to set value '" << strVal << "' to key ["
+          << this->GetKey() << "] without a parent element, "
+          << "reverting to previous value '" << this->GetAsString() << "'.\n";
+    }
+    return false;
+  }
+  return true;
+}
+
 //////////////////////////////////////////////////
 ParamPtr Param::Clone() const
 {
@@ -677,6 +841,13 @@ bool Param::GetSet() const
   return this->dataPtr->set;
 }
 
+/////////////////////////////////////////////////
+bool Param::IgnoresParentElementAttribute() const
+{
+  const auto parentElement = this->dataPtr->parentElement.lock();
+  return !parentElement || this->dataPtr->ignoreParentAttributes;
+}
+
 /////////////////////////////////////////////////
 bool Param::ValidateValue() const
 {
diff --git a/src/Param_TEST.cc b/src/Param_TEST.cc
index ece457299..5835b40c6 100644
--- a/src/Param_TEST.cc
+++ b/src/Param_TEST.cc
@@ -26,6 +26,7 @@
 #include <ignition/math/Pose3.hh>
 
 #include "sdf/Exception.hh"
+#include "sdf/Element.hh"
 #include "sdf/Param.hh"
 
 bool check_double(const std::string &num)
@@ -490,6 +491,270 @@ TEST(Param, MinMaxViolation)
   }
 }
 
+//////////////////////////////////////////////////
+TEST(Param, SettingParentElement)
+{
+  sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+
+  sdf::Param doubleParam("key", "double", "1.0", false, "description");
+  doubleParam.SetParentElement(parentElement);
+
+  ASSERT_NE(nullptr, doubleParam.GetParentElement());
+  EXPECT_EQ(parentElement, doubleParam.GetParentElement());
+
+  // Set a new parent Element
+  sdf::ElementPtr newParentElement = std::make_shared<sdf::Element>();
+
+  doubleParam.SetParentElement(newParentElement);
+  ASSERT_NE(nullptr, doubleParam.GetParentElement());
+  EXPECT_EQ(newParentElement, doubleParam.GetParentElement());
+
+  // Remove the parent Element
+  doubleParam.SetParentElement(nullptr);
+  EXPECT_EQ(nullptr, doubleParam.GetParentElement());
+}
+
+//////////////////////////////////////////////////
+TEST(Param, CopyConstructor)
+{
+  sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+
+  sdf::Param doubleParam("key", "double", "1.0", false, "description");
+  doubleParam.SetParentElement(parentElement);
+
+  ASSERT_NE(nullptr, doubleParam.GetParentElement());
+  EXPECT_EQ(parentElement, doubleParam.GetParentElement());
+
+  sdf::Param newParam(doubleParam);
+  ASSERT_NE(nullptr, newParam.GetParentElement());
+  EXPECT_EQ(parentElement, newParam.GetParentElement());
+}
+
+//////////////////////////////////////////////////
+TEST(Param, EqualOperator)
+{
+  sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+
+  sdf::Param doubleParam("key", "double", "1.0", false, "description");
+  doubleParam.SetParentElement(parentElement);
+
+  ASSERT_NE(nullptr, doubleParam.GetParentElement());
+  EXPECT_EQ(parentElement, doubleParam.GetParentElement());
+
+  sdf::Param newParam = doubleParam;
+  ASSERT_NE(nullptr, newParam.GetParentElement());
+  EXPECT_EQ(parentElement, newParam.GetParentElement());
+}
+
+//////////////////////////////////////////////////
+TEST(Param, DestroyParentElementAfterConstruct)
+{
+  sdf::ParamPtr param = nullptr;
+
+  {
+    sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+
+    param = std::make_shared<sdf::Param>(
+        "key", "double", "1.0", false, "description");
+    param->SetParentElement(parentElement);
+  }
+
+  ASSERT_NE(nullptr, param);
+  EXPECT_EQ(nullptr, param->GetParentElement());
+}
+
+//////////////////////////////////////////////////
+TEST(Param, ReparsingAfterSetDouble)
+{
+  sdf::Param doubleParam("key", "double", "1.0", false, "description");
+
+  // Reparsing without setting values will fail. Value will still be the
+  // default.
+  EXPECT_FALSE(doubleParam.Reparse());
+  double value;
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 1.0);
+
+  // Reparsing after setting a value will pass.
+  ASSERT_TRUE(doubleParam.Set<double>(5.));
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 5.0);
+  EXPECT_TRUE(doubleParam.Reparse());
+
+  // Value will be as expected, as the value was set using the explcit Set
+  // function, and no parent element attributes are meant to change the value
+  // for type double.
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 5.0);
+}
+
+//////////////////////////////////////////////////
+TEST(Param, ReparsingAfterSetFromStringDouble)
+{
+  sdf::Param doubleParam("key", "double", "1.0", false, "description");
+
+  // Reparsing without setting values will fail. Value will still be the
+  // default.
+  EXPECT_FALSE(doubleParam.Reparse());
+  double value;
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 1.0);
+
+  // Reparsing after setting a value from string will pass.
+  ASSERT_TRUE(doubleParam.SetFromString("5.0"));
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 5.0);
+  EXPECT_TRUE(doubleParam.Reparse());
+
+  // Value will be as expected, as no parent element attributes are meant to
+  // change the value for type double.
+  EXPECT_TRUE(doubleParam.Get<double>(value));
+  EXPECT_DOUBLE_EQ(value, 5.0);
+}
+
+/////////////////////////////////////////////////
+TEST(Param, ReparsingAfterSetPose)
+{
+  using Pose = ignition::math::Pose3d;
+
+  sdf::Param poseParam("", "pose", "1 2 3 0.4 0.5 0.6", false, "description");
+  Pose value;
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), value);
+
+  // Reparsing without setting values will fail.
+  EXPECT_FALSE(poseParam.Reparse());
+
+  // Reparsing after setting values will pass. Note that the value was
+  // explicitly set using the Set function, reparsing will always yield the same
+  // value moving forwards.
+  EXPECT_TRUE(poseParam.Set<Pose>(Pose(2, 3, 4, 0.5, 0.6, 0.7)));
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  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);
+
+  // Setting parent with @degrees as false, value will remain the same.
+  poseParam.SetParentElement(poseElem);
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  // Changing attribute @degrees to true, value remains the same as it was
+  // explicitly Set.
+  ASSERT_TRUE(degreesAttrib->Set<bool>(true));
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  // After reparse, value will still remain the same, as the explicit Set
+  // function was used.
+  EXPECT_TRUE(poseParam.Reparse());
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+}
+
+/////////////////////////////////////////////////
+TEST(Param, ReparsingAfterSetFromStringPose)
+{
+  using Pose = ignition::math::Pose3d;
+
+  sdf::Param poseParam("", "pose", "1 2 3 0.4 0.5 0.6", false, "description");
+  Pose value;
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), value);
+
+  // Reparsing without setting values will fail.
+  EXPECT_FALSE(poseParam.Reparse());
+
+  // Reparsing after setting values will pass. Note that the value was
+  // set using SetFromString.
+  EXPECT_TRUE(poseParam.SetFromString("2 3 4 0.5 0.6 0.7"));
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  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);
+
+  // Setting parent with @degrees as false, value will remain the same.
+  poseParam.SetParentElement(poseElem);
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  // Changing attribute @degrees to true, value remains the same before
+  // reparsing.
+  ASSERT_TRUE(degreesAttrib->Set<bool>(true));
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, 0.5, 0.6, 0.7), value);
+
+  // After reparse, rotation values will be parsed as degrees.
+  EXPECT_TRUE(poseParam.Reparse());
+  EXPECT_TRUE(poseParam.Get<Pose>(value));
+  EXPECT_EQ(Pose(2, 3, 4, IGN_DTOR(0.5), IGN_DTOR(0.6), IGN_DTOR(0.7)), value);
+}
+
+/////////////////////////////////////////////////
+TEST(Param, IgnoresParentElementAttribute)
+{
+  {
+    // Without parent
+    sdf::Param doubleParam("key", "double", "1.0", false, "description");
+    EXPECT_TRUE(doubleParam.IgnoresParentElementAttribute());
+  }
+
+  {
+    // With parent
+    sdf::Param doubleParam("key", "double", "1.0", false, "description");
+    sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+    doubleParam.SetParentElement(parentElement);
+    EXPECT_FALSE(doubleParam.IgnoresParentElementAttribute());
+  }
+
+  {
+    // Param from parent element
+    sdf::ElementPtr elem(new sdf::Element);
+    elem->SetName("double");
+    elem->AddValue("double", "0", true);
+
+    sdf::ParamPtr valParam = elem->GetValue();
+    ASSERT_NE(nullptr, valParam);
+    EXPECT_FALSE(valParam->IgnoresParentElementAttribute());
+  }
+
+  {
+    // With parent using Set and SetFromString
+    sdf::Param doubleParam("key", "double", "1.0", false, "description");
+    sdf::ElementPtr parentElement = std::make_shared<sdf::Element>();
+    doubleParam.SetParentElement(parentElement);
+    ASSERT_TRUE(doubleParam.Set<double>(23.4));
+    EXPECT_TRUE(doubleParam.IgnoresParentElementAttribute());
+
+    ASSERT_TRUE(doubleParam.SetFromString("34.5"));
+    EXPECT_FALSE(doubleParam.IgnoresParentElementAttribute());
+
+    ASSERT_TRUE(doubleParam.SetFromString("45.6", true));
+    EXPECT_TRUE(doubleParam.IgnoresParentElementAttribute());
+
+    ASSERT_TRUE(doubleParam.SetFromString("56.7", false));
+    EXPECT_FALSE(doubleParam.IgnoresParentElementAttribute());
+
+    ASSERT_TRUE(doubleParam.Set<double>(67.8));
+    EXPECT_TRUE(doubleParam.IgnoresParentElementAttribute());
+  }
+}
+
+
 /////////////////////////////////////////////////
 /// Main
 int main(int argc, char **argv)
diff --git a/src/parser.cc b/src/parser.cc
index 90bfbb0d0..26993bb11 100644
--- a/src/parser.cc
+++ b/src/parser.cc
@@ -1049,12 +1049,6 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
     }
   }
 
-  if (_xml->GetText() != nullptr && _sdf->GetValue())
-  {
-    if (!_sdf->GetValue()->SetFromString(_xml->GetText()))
-      return false;
-  }
-
   // check for nested sdf
   std::string refSDFStr = _sdf->ReferenceSDF();
   if (!refSDFStr.empty())
@@ -1186,6 +1180,12 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
     }
   }
 
+  if (_xml->GetText() != nullptr && _sdf->GetValue())
+  {
+    if (!_sdf->GetValue()->SetFromString(_xml->GetText()))
+      return false;
+  }
+
   if (_sdf->GetCopyChildren())
   {
     copyChildren(_sdf, _xml, false);
diff --git a/src/parser_TEST.cc b/src/parser_TEST.cc
index ce5f9289c..fd557fa4b 100644
--- a/src/parser_TEST.cc
+++ b/src/parser_TEST.cc
@@ -302,7 +302,7 @@ TEST(Parser, SyntaxErrorInValues)
 
     sdf::readFile(path, sdf);
     EXPECT_PRED2(contains, buffer.str(),
-                 "Unable to set value [bad 0 0 0 0 0 ] for key[pose]");
+                 "Unable to set value [bad 0 0 0 0 0] for key [pose]");
     EXPECT_PRED2(contains, buffer.str(), "bad_syntax_pose.sdf:L5");
     EXPECT_PRED2(contains, buffer.str(),
                  "/sdf/world[@name=\"default\"]/model[@name=\"robot1\"]/pose:");
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index dcfffd58a..ddfb34936 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -39,6 +39,7 @@ set(tests
   plugin_attribute.cc
   plugin_bool.cc
   plugin_include.cc
+  pose_1_9_sdf.cc
   provide_feedback.cc
   root_dom.cc
   scene_dom.cc
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
new file mode 100644
index 000000000..73bf14e25
--- /dev/null
+++ b/test/integration/pose_1_9_sdf.cc
@@ -0,0 +1,498 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <gtest/gtest.h>
+
+#include <ignition/math/Angle.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Vector3.hh>
+#include "sdf/Element.hh"
+#include "sdf/Error.hh"
+#include "sdf/Model.hh"
+#include "sdf/Root.hh"
+#include "sdf/World.hh"
+#include "sdf/parser.hh"
+#include "sdf/Filesystem.hh"
+#include "test_config.h"
+#include "test_utils.hh"
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ModelPose)
+{
+  using Pose = ignition::math::Pose3d;
+
+  const std::string testFile = sdf::testing::TestFile(
+      "sdf", "pose_1_9.sdf");
+  const double pi = 3.14159265358979323846;
+
+  // Load the SDF file
+  sdf::Root root;
+  auto errors = root.Load(testFile);
+  ASSERT_TRUE(errors.empty()) << errors;
+  EXPECT_EQ(SDF_PROTOCOL_VERSION, root.Version());
+
+  const sdf::World *world = root.WorldByIndex(0);
+  ASSERT_NE(nullptr, world);
+
+  const sdf::Model *model = world->ModelByIndex(0);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_empty_pose", model->Name());
+  EXPECT_EQ(Pose::Zero, model->RawPose());
+
+  model = world->ModelByIndex(1);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_empty_pose_with_degrees_false", model->Name());
+  EXPECT_EQ(Pose::Zero, model->RawPose());
+
+  model = world->ModelByIndex(2);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_empty_pose_with_degrees_true", model->Name());
+  EXPECT_EQ(Pose::Zero, model->RawPose());
+
+  model = world->ModelByIndex(3);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_pose_no_attribute", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), model->RawPose());
+
+  model = world->ModelByIndex(4);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_pose_with_degrees_false", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), model->RawPose());
+
+  model = world->ModelByIndex(5);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_pose_with_degrees_true", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, pi / 2, pi, pi * 3 / 2), model->RawPose());
+
+  model = world->ModelByIndex(6);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_single_space_delimiter", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), model->RawPose());
+
+  model = world->ModelByIndex(7);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_newline_delimiter", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), model->RawPose());
+
+  model = world->ModelByIndex(8);
+  ASSERT_NE(nullptr, model);
+  ASSERT_EQ("model_with_messy_delimiters", model->Name());
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), model->RawPose());
+}
+
+//////////////////////////////////////////////////
+static bool contains(const std::string &_a, const std::string &_b)
+{
+  return _a.find(_b) != std::string::npos;
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseSet7ValuesFail)
+{
+  // Redirect sdferr output
+  std::stringstream buffer;
+  sdf::testing::RedirectConsoleStream redir(
+      sdf::Console::Instance()->GetMsgStream(), &buffer);
+
+#ifdef _WIN32
+  sdf::Console::Instance()->SetQuiet(false);
+  sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+#endif
+
+  buffer.str("");
+  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);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+  EXPECT_FALSE(poseValueParam->SetFromString(
+      "1 2 3   0.7071068 0.7071068 0 0"));
+  EXPECT_PRED2(contains, buffer.str(), "can only accept 6 values");
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseElementSetAndGet)
+{
+  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);
+  poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6));
+
+  Pose elemVal;
+  ASSERT_TRUE(poseElem->Get<Pose>("", elemVal, Pose()));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), elemVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseElementSetAndParamGet)
+{
+  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);
+  poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6));
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+
+  Pose paramVal;
+  ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseParamSetAndGet)
+{
+  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);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+
+  ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));
+
+  Pose paramVal;
+  ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseParamSetFromStringAndGet)
+{
+  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);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+
+  ASSERT_TRUE(poseValueParam->SetFromString("1 2 3   0.4 0.5 0.6"));
+
+  Pose paramVal;
+  ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseParamSetAndElemGet)
+{
+  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);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+
+  ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));
+
+  Pose elemVal;
+  ASSERT_TRUE(poseElem->Get<Pose>("", elemVal, Pose()));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), elemVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, PoseParamSetAndParentElemGet)
+{
+  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);
+
+  sdf::ParamPtr poseValueParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, poseValueParam);
+
+  ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));
+
+  sdf::ElementPtr parentElem = poseValueParam->GetParentElement();
+  ASSERT_NE(nullptr, parentElem);
+  EXPECT_EQ(poseElem, parentElem);
+  Pose parentElemVal;
+  ASSERT_TRUE(parentElem->Get<Pose>("", parentElemVal, Pose()));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), parentElemVal);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ChangingParentPoseElementAfterSet)
+{
+  // Since the values are explicitly set using the Set<T> function,
+  // reparsing should not change their values, even when parent elements have
+  // been changed.
+
+  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);
+  ASSERT_TRUE(poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));
+
+  sdf::ElementPtr degreesPoseElem(new sdf::Element);
+  degreesPoseElem->SetName("pose");
+  degreesPoseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  degreesPoseElem->AddAttribute("relative_to", "string", "", false);
+  degreesPoseElem->AddAttribute("degrees", "bool", "true", false);
+
+  sdf::ElementPtr radiansPoseElem(new sdf::Element);
+  radiansPoseElem->SetName("pose");
+  radiansPoseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  radiansPoseElem->AddAttribute("relative_to", "string", "", false);
+  radiansPoseElem->AddAttribute("degrees", "bool", "false", false);
+
+  // Param from original default attibute
+  sdf::ParamPtr valParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, valParam);
+
+  Pose val;
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Set parent to Element with degrees attribute true.
+  valParam->SetParentElement(degreesPoseElem);
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Set parent to Element with degrees attribute false.
+  valParam->SetParentElement(radiansPoseElem);
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Remove parent
+  valParam->SetParentElement(nullptr);
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ChangingParentPoseElementAfterParamSetFromString)
+{
+  // Since the values are set using the SetFromString function, reparsing
+  // should change their values, when parent elements have been changed.
+
+  const double pi = 3.14159265358979323846;
+  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);
+
+  sdf::ElementPtr degreesPoseElem(new sdf::Element);
+  degreesPoseElem->SetName("pose");
+  degreesPoseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  degreesPoseElem->AddAttribute("relative_to", "string", "", false);
+  degreesPoseElem->AddAttribute("degrees", "bool", "true", false);
+
+  sdf::ElementPtr radiansPoseElem(new sdf::Element);
+  radiansPoseElem->SetName("pose");
+  radiansPoseElem->AddValue("pose", "0 0 0   0 0 0", true);
+  radiansPoseElem->AddAttribute("relative_to", "string", "", false);
+  radiansPoseElem->AddAttribute("degrees", "bool", "false", false);
+
+  // Param from original default attibute
+  sdf::ParamPtr valParam = poseElem->GetValue();
+  ASSERT_NE(nullptr, valParam);
+  ASSERT_TRUE(valParam->SetFromString("1, 2, 3, 0.4, 0.5, 0.6"));
+
+  Pose val;
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Set parent to Element with degrees attribute true.
+  valParam->SetParentElement(degreesPoseElem);
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4 * pi / 180, 0.5 * pi / 180, 0.6 * pi / 180), val);
+
+  // Set parent to Element with degrees attribute false.
+  valParam->SetParentElement(radiansPoseElem);
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Remove parent
+  valParam->SetParentElement(nullptr);
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+}
+
+//////////////////////////////////////////////////
+TEST(Pose1_9, ChangingAttributeOfParentElement)
+{
+  const double pi = 3.14159265358979323846;
+  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"));
+
+  Pose val;
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Changing to degrees without reparsing, value will remain the same
+  sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees");
+  ASSERT_NE(nullptr, degreesAttrib);
+  ASSERT_TRUE(degreesAttrib->Set<bool>(true));
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
+
+  // Values will change to be degrees after reparsing
+  ASSERT_TRUE(valParam->Reparse());
+  ASSERT_TRUE(valParam->Get<Pose>(val));
+  EXPECT_EQ(Pose(1, 2, 3, 0.4 * pi / 180, 0.5 * pi / 180, 0.6 * pi / 180), val);
+
+  // Changing back to radians
+  ASSERT_TRUE(degreesAttrib->Set<bool>(false));
+  ASSERT_TRUE(valParam->Reparse());
+  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>
diff --git a/test/sdf/pose_1_9.sdf b/test/sdf/pose_1_9.sdf
new file mode 100644
index 000000000..dd8187324
--- /dev/null
+++ b/test/sdf/pose_1_9.sdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="default">
+
+    <!--
+      All the pose values listed in this testing sdf file are independent and
+      unrelated to each other.
+    -->
+
+    <model name="model_with_empty_pose">
+      <pose></pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_empty_pose_with_degrees_false">
+      <pose degrees="false"></pose> 
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_empty_pose_with_degrees_true">
+      <pose degrees="true"></pose> 
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_pose_no_attribute">
+      <pose>1 2 3   0.4 0.5 0.6</pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_pose_with_degrees_false">
+      <pose degrees="false">1 2 3   0.4 0.5 0.6</pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_pose_with_degrees_true">
+      <pose degrees="true">1 2 3   90 180 270</pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_single_space_delimiter">
+      <pose>1 2 3 0.4 0.5 0.6</pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_newline_delimiter">
+      <pose>
+        1 2 3
+        0.4 0.5 0.6
+      </pose>
+      <link name="link"/>
+    </model>
+
+    <model name="model_with_messy_delimiters">
+      <pose>
+        1 2 3
+        0.4
+        0.5 0.6
+      </pose>
+      <link name="link"/>
+    </model>
+  
+  </world>
+</sdf>