diff --git a/vrx_gz/src/NavigationScoringPlugin.cc b/vrx_gz/src/NavigationScoringPlugin.cc
index 1249b4c09..23027b1da 100644
--- a/vrx_gz/src/NavigationScoringPlugin.cc
+++ b/vrx_gz/src/NavigationScoringPlugin.cc
@@ -367,11 +367,6 @@ void NavigationScoringPlugin::Configure(const sim::Entity &_entity,
     return;
   }
 
-  // Set default score in case of timeout.
-  double timeoutScore = 200;
-  gzmsg << "Setting timeoutScore = " << timeoutScore << std::endl;
-  this->ScoringPlugin::SetTimeoutScore(timeoutScore);
-
   gzmsg << "Task [" << this->TaskName() << "]" << std::endl;
 }
 
@@ -534,13 +529,6 @@ void NavigationScoringPlugin::PreUpdate( const sim::UpdateInfo &_info,
   }
 }
 
-//////////////////////////////////////////////////
-void NavigationScoringPlugin::Fail()
-{
-  ScoringPlugin::SetScore(ScoringPlugin::TimeoutScore());
-  ScoringPlugin::Finish();
-}
-
 GZ_ADD_PLUGIN(vrx::NavigationScoringPlugin,
                     sim::System,
                     vrx::NavigationScoringPlugin::ISystemConfigure,
diff --git a/vrx_gz/src/NavigationScoringPlugin.hh b/vrx_gz/src/NavigationScoringPlugin.hh
index 002d2ca90..b00952504 100644
--- a/vrx_gz/src/NavigationScoringPlugin.hh
+++ b/vrx_gz/src/NavigationScoringPlugin.hh
@@ -104,9 +104,6 @@ namespace vrx
     public: void PreUpdate(const gz::sim::UpdateInfo &_info,
                            gz::sim::EntityComponentManager &_ecm) override;
 
-    /// \brief Set the score to 0 and change to state to "finish".
-    protected: void Fail();
-
     /// \brief Private data pointer.
     GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
   };