diff --git a/sr_description_common/models/mobile_base_rob@work4/model.config b/sr_description_common/models/mobile_base_rob@work4/model.config
new file mode 100644
index 00000000..3ab88e17
--- /dev/null
+++ b/sr_description_common/models/mobile_base_rob@work4/model.config
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
+<model>
+  <name>mobile_base_rob@work4</name>
+  <version>1.0</version>
+  <sdf version="1.0">mobile_base_rob@work4.sdf</sdf>
+
+  <author>
+    <name>Ethan Fowler</name>
+    <email>software@shadowrobot.com</email>
+  </author>
+
+  <description>
+    A box to simulate a mobile base (e.g. Rob@work4 from Fraunhofer IPA)
+  </description>
+</model>
diff --git a/sr_description_common/models/mobile_base_rob@work4/model.sdf b/sr_description_common/models/mobile_base_rob@work4/model.sdf
new file mode 100644
index 00000000..afcf8032
--- /dev/null
+++ b/sr_description_common/models/mobile_base_rob@work4/model.sdf
@@ -0,0 +1,37 @@
+<?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
+<sdf version="1.4">
+  <model name="mobile_base_rob@work4">
+    <static>true</static>
+    <link name="link">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.62 1.12 0.62</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.62 1.12 0.62</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/sr_description_common/scenes/rob@work4.scene b/sr_description_common/scenes/rob@work4.scene
new file mode 100644
index 00000000..1c3d4789
--- /dev/null
+++ b/sr_description_common/scenes/rob@work4.scene
@@ -0,0 +1,16 @@
+(noname)+
+* ground__link
+1
+box
+5 5 0.01
+0 0.38 0
+0 0 0 1
+0 0 0 0
+* mobile_base__link
+1
+box
+0.62 1.12 0.62
+0.15 0.38 0.309
+0 0 0 1
+0 0 0 0
+.
diff --git a/sr_description_common/worlds/rob@work4.world b/sr_description_common/worlds/rob@work4.world
new file mode 100644
index 00000000..a1632fa5
--- /dev/null
+++ b/sr_description_common/worlds/rob@work4.world
@@ -0,0 +1,72 @@
+<?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
+<sdf version="1.4">
+  <world name="default">
+    <include>
+      <uri>model://ground</uri>
+      <name>ground</name>
+      <pose>0.00 0.38 0.0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://mobile_base_rob@work4</uri>
+      <name>mobile_base_rob@work4</name>
+      <pose>0.15 0.38 0.309 0 0 0</pose>
+    </include>
+    <light type="directional" name="lab_light">
+      <pose>0.86 1.96 2.5 -1.55 0 0</pose>
+      <diffuse>.8 .8 .8 1</diffuse>
+      <specular>.2 .2 .2 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0 0 -1</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+    <physics type="ode">
+      <gravity>0.000000 0.000000 -9.810000</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>100</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.000000</sor>
+        </solver>
+        <constraints>
+          <cfm>0.000000</cfm>
+          <erp>0.500000</erp>
+          <contact_max_correcting_vel>1000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.00000</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_factor>1.0</real_time_factor>
+      <max_step_size>0.001000</max_step_size>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 1 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>2.8784 4.2586 1.43117 0 0.083643 -2.30699</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>		
+  </world>
+</sdf>