diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 001501ff079e3438965f3565dcd321387cbac39a..d76e951f5f6d7dd173c64f0cb5e55cf0d01c6032 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -120,8 +120,12 @@ namespace hpp {
       pathValidation->validate (path, false, validPath);
       if (validPath->length () == 0)
         addFailure (PATH_VALIDATION, edge);
-      else
+      else {
         extendStatistics_.addSuccess ();
+        hppDout (info, "Extension:" << std::endl
+            << extendStatistics_);
+        graph->getNode ((*validPath) (validPath->length ()));
+      }
       return true;
     }