diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 7b46d8319bf5f186aeb441b3423c8d5f56407542..905223e4b0870b0425386a2ba17e1c8e76ac9001 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -316,7 +316,7 @@ namespace hpp {
         hppDout (info, "Extension:" << std::endl
             << es);
       }
-      if (!projShorter && fullValidPath) {
+      if (!projShorter && fullyValid) {
 	es.addSuccess ();
 	es.addFailure (reasons_ [REACHED_DESTINATION_NODE]);
       }