diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 9f73089f1270f2a610b5516e936e0932b8b733a7..00887b40c674f63755e4a3339efe522c48e6c62d 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -124,7 +124,7 @@ namespace hpp {
         if (!projPath || projPath->length () == 0) return false;
       }
       GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
-      pathValidation->validate (path, false, validPath);
+      pathValidation->validate (projPath, false, validPath);
       if (validPath->length () == 0)
         addFailure (PATH_VALIDATION, edge);
       else {
diff --git a/src/path-projector.cc b/src/path-projector.cc
index c10f9301c04f37f1f8b15118684f9e1423d4a660..3424c6cbd94d9ca2905a7ba7c7a0f19ae909e927 100644
--- a/src/path-projector.cc
+++ b/src/path-projector.cc
@@ -54,7 +54,9 @@ namespace hpp {
           }
           res->appendPath (part);
         }
+        proj = res;
       }
+      assert (proj);
       return true;
     }
   } // namespace manipulation