diff --git a/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro b/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro
index d16b7f43..350c142a 100644
--- a/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro
+++ b/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro
@@ -12,7 +12,7 @@
         <xacro:property name="has_imu" value="false" />
         <xacro:property name="baseline" value="0.075" />
 
-        <xacro:if value="${model == 'OAK-D'}">
+        <xacro:if value="${model in ['OAK-D', 'OAK-D-PRO', 'OAK-D-POE']}">
             <xacro:property name="has_imu" value="true" />
         </xacro:if>
 
@@ -73,4 +73,4 @@
 
     </xacro:macro>
 
-</robot>
\ No newline at end of file
+</robot>