diff --git a/include/hpp/manipulation/manipulation-planner.hh b/include/hpp/manipulation/manipulation-planner.hh
index 07201e00a3d98b8eec1986567c1d52c820a7faeb..e510d2b93a45656f005c5f57499dfcff82b5b399 100644
--- a/include/hpp/manipulation/manipulation-planner.hh
+++ b/include/hpp/manipulation/manipulation-planner.hh
@@ -116,7 +116,7 @@ namespace hpp {
         };
         static const std::vector<Reason> reasons_;
 
-        const value_type extendStep_;
+        value_type extendStep_;
 
         mutable Configuration_t qProj_;
     };
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 1f60ae1574734436297b67d7633ffb25de41bda3..150195bb2813c49bc1e6d5640eac738e46f43875 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -449,7 +449,7 @@ namespace hpp {
       core::PathPlanner (problem, roadmap),
       shooter_ (problem.configurationShooter()),
       problem_ (problem), roadmap_ (roadmap),
-      extendStep_ (1),
+      extendStep_ (problem.getParameter<value_type>("ManipulationPlanner/ExtendStep", 1)),
       qProj_ (problem.robot ()->configSize ())
     {}
 
diff --git a/src/problem.cc b/src/problem.cc
index 81d9b147aedb91809ddfbc91356e5bb1ee24e655..1f50bd355ddf93c3e6d5f7d0379a8e5db9c5e93b 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -30,6 +30,8 @@ namespace hpp {
       Parent::steeringMethod (GraphSteeringMethod::create (this));
       distance (WeighedDistance::create (robot, graph_));
       setPathValidationFactory(core::DiscretizedCollisionChecking::create, 0.05);
+
+      // add<boost::any>("ManipulationPlanner/ExtendStep", (value_type)1);
     }
 
     void Problem::constraintGraph (const graph::GraphPtr_t& graph)