diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index 7a0c682fe4842063f7cdaa4f4e70db18c4163c12..77bbad0a5bba1c79631719a4122f665f8621cc51 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -20,3 +20,8 @@ HPP_ADD_PLUGIN(manipulation-spline-gradient-based
   SOURCES spline-gradient-based.cc
   LINK_DEPENDENCIES ${PROJECT_NAME} ${PROJECT_NAME}-gpl hpp-core-gpl
   PKG_CONFIG_DEPENDENCIES hpp-core)
+
+HPP_ADD_PLUGIN(end-effector-trajectory
+  SOURCES end-effector-trajectory.cc
+  LINK_DEPENDENCIES ${PROJECT_NAME}
+  PKG_CONFIG_DEPENDENCIES hpp-core)
diff --git a/plugins/end-effector-trajectory.cc b/plugins/end-effector-trajectory.cc
new file mode 100644
index 0000000000000000000000000000000000000000..f2baee78989510cc0245526e5e03a4d7a3c794a4
--- /dev/null
+++ b/plugins/end-effector-trajectory.cc
@@ -0,0 +1,45 @@
+// Copyright (c) 2019, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/plugin.hh>
+#include <hpp/core/problem-solver.hh>
+
+#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
+#include <hpp/manipulation/path-planner/end-effector-trajectory.hh>
+
+namespace hpp {
+  namespace manipulation {
+    class EndEffectorTrajectoryPlugin : public core::ProblemSolverPlugin
+    {
+      public:
+        EndEffectorTrajectoryPlugin ()
+          : ProblemSolverPlugin ("EndEffectorTrajectoryPlugin", "0.0")
+        {}
+
+      protected:
+        virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
+        {
+          ps->pathPlanners.add ("EndEffectorTrajectory",
+              pathPlanner::EndEffectorTrajectory::createWithRoadmap);
+          ps->steeringMethods.add ("EndEffectorTrajectory",
+              steeringMethod::EndEffectorTrajectory::create);
+          return true;
+        }
+    };
+  } // namespace manipulation
+} // namespace hpp
+
+HPP_CORE_DEFINE_PLUGIN(hpp::manipulation::EndEffectorTrajectoryPlugin)