diff --git a/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/behind.world b/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/behind.world
new file mode 100644
index 000000000..52d30fdbd
--- /dev/null
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diff --git a/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/close.world b/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/close.world
new file mode 100644
index 000000000..cd05fc594
--- /dev/null
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new file mode 100644
index 000000000..87fa3cd9d
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diff --git a/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/none.world b/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/none.world
new file mode 100644
index 000000000..791ebf40c
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diff --git a/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/right.world b/NaviGator/simulation/navigator_gazebo/worlds/scan_code_tests/right.world
new file mode 100644
index 000000000..639cbc36e
--- /dev/null
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