diff --git a/src/alitra/models/orientation.py b/src/alitra/models/orientation.py
index d449385..4c335da 100644
--- a/src/alitra/models/orientation.py
+++ b/src/alitra/models/orientation.py
@@ -91,3 +91,19 @@ def from_rotation(rotation: Rotation, frame: Frame) -> Orientation:
         :return: Orientation object
         """
         return Orientation(*rotation.as_quat(), frame=frame)  # type: ignore
+
+    def __str__(self):
+        """
+        :return: Unique string representation of the orientation, ignoring the frame
+        """
+        return (
+            "["
+            + str(self.x)
+            + ","
+            + str(self.y)
+            + ","
+            + str(self.z)
+            + ","
+            + str(self.w)
+            + "]"
+        )
diff --git a/src/alitra/models/pose.py b/src/alitra/models/pose.py
index 095a662..96e3b68 100644
--- a/src/alitra/models/pose.py
+++ b/src/alitra/models/pose.py
@@ -41,3 +41,9 @@ def from_array(pos_array: np.ndarray, quat_array: np.ndarray, frame: Frame) -> P
             Orientation.from_quat_array(quat_array, frame),
             frame,
         )
+
+    def __str__(self):
+        """
+        :return: Unique string representation of the pose
+        """
+        return "pos:" + str(self.position) + ", ori: " + str(self.orientation)
diff --git a/src/alitra/models/position.py b/src/alitra/models/position.py
index 4616d85..5861989 100644
--- a/src/alitra/models/position.py
+++ b/src/alitra/models/position.py
@@ -71,3 +71,9 @@ def from_array(position_array: np.ndarray, frame: Frame) -> Positions:
                 Position(x=position[0], y=position[1], z=position[2], frame=frame)
             )
         return Positions(positions=positions, frame=frame)
+
+    def __str__(self):
+        """
+        :return: Unique string representation of the position, ignoring the frame
+        """
+        return "(" + str(self.x) + "," + str(self.y) + "," + str(self.z) + ")"