diff --git a/test/integration/model/test_model_with_frames_no_rotations/model.config b/test/integration/model/test_model_with_frames_no_rotations/model.config
new file mode 100644
index 000000000..33e622b95
--- /dev/null
+++ b/test/integration/model/test_model_with_frames_no_rotations/model.config
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>test_model_with_frames</name>
+  <sdf version="1.7">model.sdf</sdf>
+</model>
diff --git a/test/integration/model/test_model_with_frames_no_rotations/model.sdf b/test/integration/model/test_model_with_frames_no_rotations/model.sdf
new file mode 100644
index 000000000..769175115
--- /dev/null
+++ b/test/integration/model/test_model_with_frames_no_rotations/model.sdf
@@ -0,0 +1,69 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <model name="test_model_with_frames">
+    <frame name="F1">
+      <pose>0.12345 0 0 0 0 0</pose>
+    </frame>
+    <frame name="F2">
+      <pose relative_to="F1">0 1.2345 0 0 0 0</pose>
+    </frame>
+    <link name="L1">
+      <pose relative_to="F1"/>
+      <visual name="V1">
+        <pose relative_to="F2"/>
+        <geometry>
+          <sphere>
+            <radius>1.5707963267948966</radius>
+          </sphere>
+        </geometry>
+      </visual>
+      <collision name="C1">
+        <pose relative_to="__model__"/>
+        <geometry>
+          <sphere>
+            <radius>0.78539816339744828</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+    <link name="L2">
+      <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>
+    </link>
+    <link name="L4">
+      <pose relative_to="__model__">0 0 1 0 0 0</pose>
+    </link>
+    <joint name="J1" type="universal">
+      <pose relative_to="L1"/>
+      <parent>L1</parent>
+      <child>L2</child>
+      <axis>
+        <xyz expressed_in="F2">0 0 1</xyz>
+      </axis>
+      <axis2>
+        <xyz expressed_in="F2">1 0 0</xyz>
+      </axis2>
+    </joint>
+    <joint name="J2" type="revolute">
+      <pose relative_to="">0 0 1 0 0 0</pose>
+      <parent>L2</parent>
+      <child>L3</child>
+      <axis>
+        <xyz expressed_in="__model__">0 0 1</xyz>
+      </axis>
+    </joint>
+    <joint name="J3" type="fixed">
+      <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>
+      <link name="L5">
+        <pose>1 0 0 0 0 0</pose>
+      </link>
+    </model>
+  </model>
+</sdf>
diff --git a/test/integration/model/test_nested_model_with_frames/model.sdf b/test/integration/model/test_nested_model_with_frames/model.sdf
index b28a42b4f..7716ebeea 100644
--- a/test/integration/model/test_nested_model_with_frames/model.sdf
+++ b/test/integration/model/test_nested_model_with_frames/model.sdf
@@ -3,8 +3,8 @@
   <model name="test_nested_model_with_frames">
     <include>
       <!-- This search path for this model must be added by the test code -->
-      <uri>test_model_with_frames</uri>
-      <pose>0 10 0 1.570796326794895 0 0</pose>
+      <uri>test_model_with_frames_no_rotations</uri>
+      <pose>0 10 0 0 0 0</pose>
     </include>
   </model>
 </sdf>
diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc
index bd01621f6..935345fc4 100644
--- a/test/integration/nested_model.cc
+++ b/test/integration/nested_model.cc
@@ -574,15 +574,15 @@ void prepareForDirectComparison(sdf::ElementPtr _worldElem)
 }
 
 //////////////////////////////////////////////////
-// Test parsing models with child models containg frames nested via <include>
+// Test parsing models with child models containing frames nested via <include>
 // Compare parsed SDF with expected string
 TEST(NestedModel, NestedModelWithFramesDirectComparison)
 {
-  const std::string name = "test_model_with_frames";
+  const std::string name = "test_model_with_frames_no_rotations";
   const std::string modelPath =
     sdf::testing::TestFile("integration", "model", name);
 
-  const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
+  const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, 0);
 
   std::ostringstream stream;
   std::string version = "1.7";
@@ -609,8 +609,6 @@ TEST(NestedModel, NestedModelWithFramesDirectComparison)
   prepareForDirectComparison(worldElem);
 
   // Compare with expected output
-  // There is a small loss of precision (~2e-16) in poses, which is related to:
-  // https://github.com/ignitionrobotics/ign-math/issues/212
   const std::string expectedSdfPath =
     sdf::testing::TestFile(
         "integration", "nested_model_with_frames_expected.sdf");
@@ -733,7 +731,7 @@ TEST(NestedModel, TwoLevelNestedModelWithFramesDirectComparison)
   const std::string modelPath = sdf::testing::TestFile(
       "integration", "model", name);
 
-  const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
+  const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, 0);
 
   std::ostringstream stream;
   std::string version = "1.7";
@@ -767,8 +765,6 @@ TEST(NestedModel, TwoLevelNestedModelWithFramesDirectComparison)
   prepareForDirectComparison(worldElem);
 
   // Compare with expected output
-  // There is a small loss of precision (~2e-16) in poses, which is related to:
-  // https://github.com/ignitionrobotics/ign-math/issues/212
   const std::string expectedSdfPath =
       sdf::testing::TestFile(
           "integration", "two_level_nested_model_with_frames_expected.sdf");
diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf
index ab4f780ac..078f6f7db 100644
--- a/test/integration/nested_model_with_frames_expected.sdf
+++ b/test/integration/nested_model_with_frames_expected.sdf
@@ -4,10 +4,10 @@
     <model name='ParentModel'>
       <model name='M1'>
         <frame name='F1'>
-          <pose>0 0 0 1.5707959999999999 0 0</pose>
+          <pose>0.12345 0 0 0 0 0</pose>
         </frame>
         <frame name='F2'>
-          <pose relative_to='F1'>0 0 0 0 0.78539799999999993 0</pose>
+          <pose relative_to='F1'>0 1.2344999999999999 0 0 0 0</pose>
         </frame>
         <link name='L1'>
           <pose relative_to='F1'>0 0 0 0 0 0</pose>
@@ -67,7 +67,7 @@
             <pose>1 0 0 0 0 0</pose>
           </link>
         </model>
-        <pose>10 0 0 0 0 1.5708</pose>
+        <pose>10 0 0 0 0 0</pose>
       </model>
     </model>
   </world>
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 6728f2478..a0b97a805 100644
--- a/test/integration/two_level_nested_model_with_frames_expected.sdf
+++ b/test/integration/two_level_nested_model_with_frames_expected.sdf
@@ -5,10 +5,10 @@
       <model name='M1'>
         <model name='test_model_with_frames'>
           <frame name='F1'>
-            <pose>0 0 0 1.5707959999999999 0 0</pose>
+            <pose>0.12345 0 0 0 0 0</pose>
           </frame>
           <frame name='F2'>
-            <pose relative_to='F1'>0 0 0 0 0.78539799999999993 0</pose>
+            <pose relative_to='F1'>0 1.2344999999999999 0 0 0 0</pose>
           </frame>
           <link name='L1'>
             <pose relative_to='F1'>0 0 0 0 0 0</pose>
@@ -68,9 +68,9 @@
               <pose>1 0 0 0 0 0</pose>
             </link>
           </model>
-          <pose>0 10 0 1.5707963267948948 0 0</pose>
+          <pose>0 10 0 0 0 0</pose>
         </model>
-        <pose>10 0 0 0 0 1.5708</pose>
+        <pose>10 0 0 0 0 0</pose>
       </model>
     </model>
   </world>