diff --git a/moma_mission/demo/piloting.py b/moma_mission/demo/piloting.py
index 9f2e70af..51e0d610 100755
--- a/moma_mission/demo/piloting.py
+++ b/moma_mission/demo/piloting.py
@@ -106,9 +106,11 @@
             "REACH_DETECTION_HOTSPOT_FAR",
             NavigationState,
             transitions={
-                "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM"
-                if not sim
-                else "REACH_DETECTION_HOTSPOT_CLOSE",
+                # Use wholebody controller in sim
+                # "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM"
+                # if not sim
+                # else "REACH_DETECTION_HOTSPOT_CLOSE",
+                "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM",
                 "Failure": "REACH_DETECTION_HOTSPOT_FAR",
             },
         )
diff --git a/moma_mission/src/moma_mission/missions/piloting/sequences.py b/moma_mission/src/moma_mission/missions/piloting/sequences.py
index db538f0c..611e0297 100755
--- a/moma_mission/src/moma_mission/missions/piloting/sequences.py
+++ b/moma_mission/src/moma_mission/missions/piloting/sequences.py
@@ -5,9 +5,9 @@
 
 from moma_mission.core import StateMachineRos, StateRos
 from moma_mission.missions.piloting.states import *
-from moma_mission.states.path_visitor import PathVisitorState
 from moma_mission.states.gripper import GripperControl, GripperGrasp
 from moma_mission.states.manipulation import JointsConfigurationAction
+from moma_mission.states.path_visitor import PathVisitorState
 
 
 def homing_sequence_factory():
@@ -30,12 +30,6 @@ def homing_sequence_factory():
 def object_placement_sequence_factory():
     object_placement_sequence = StateMachineRos(outcomes=["Success", "Failure"])
     with object_placement_sequence:
-        object_placement_sequence.add(
-            "HOVER_OBJECT",
-            PathVisitorState,
-            transitions={"Completed": "APPROACH_OBJECT", "Failure": "Failure"},
-        )
-
         object_placement_sequence.add(
             "APPROACH_OBJECT",
             PathVisitorState,