diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 4780d34ce320e55dce57496275516f2ca0fb51de..e3071f29192272f2dae8f2a1b69f6f69b384f7ab 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -124,6 +124,7 @@ namespace hpp {
         return false;
       core::SteeringMethodPtr_t sm (problem().steeringMethod());
       core::PathPtr_t path = (*sm) (*q_near, qProj_);
+      path->constraints (graph->pathConstraint (edges, *q_near));
       if (!path)
         return false;
       core::PathValidationPtr_t pathValidation (problem ().pathValidation ());