diff --git a/src/pyhpp/manipulation/problem.cc b/src/pyhpp/manipulation/problem.cc
index 498daf7..237066b 100644
--- a/src/pyhpp/manipulation/problem.cc
+++ b/src/pyhpp/manipulation/problem.cc
@@ -36,6 +36,7 @@
 #include <hpp/core/path-projector.hh>
 #include <hpp/core/problem.hh>
 #include <hpp/core/steering-method/straight.hh>
+#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
 #include <hpp/manipulation/steering-method/graph.hh>
 #include <pyhpp/core/steering-method.hh>
 
@@ -64,6 +65,28 @@ void Problem::checkProblem() const { asManipulationProblem()->checkProblem(); }
 
 void Problem::steeringMethod(
     const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod) {
+  auto manipulationSteeringMethod = HPP_DYNAMIC_PTR_CAST(
+      hpp::manipulation::SteeringMethod, steeringMethod->obj);
+  auto endEffectorTrajectorySteeringMethod = HPP_DYNAMIC_PTR_CAST(
+      hpp::manipulation::steeringMethod::EndEffectorTrajectory,
+      steeringMethod->obj);
+  if (manipulationSteeringMethod || endEffectorTrajectorySteeringMethod) {
+    obj->steeringMethod(steeringMethod->obj);
+    return;
+  }
+
+  manipulationSteeringMethod = HPP_DYNAMIC_PTR_CAST(
+      hpp::manipulation::SteeringMethod, obj->steeringMethod());
+  if (!manipulationSteeringMethod) {
+    manipulationSteeringMethod =
+        hpp::manipulation::steeringMethod::Graph::create(obj);
+    obj->steeringMethod(manipulationSteeringMethod);
+  }
+  manipulationSteeringMethod->innerSteeringMethod(steeringMethod->obj);
+}
+
+void Problem::fullSteeringMethod(
+    const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod) {
   obj->steeringMethod(steeringMethod->obj);
 }
 
@@ -137,6 +160,7 @@ void exposeProblem() {
            static_cast<void (Problem::*)(
                const pyhpp::manipulation::PyWGraphSteeringMethodPtr_t&)>(
                &Problem::graphSteeringMethod))
+      .def("fullSteeringMethod", &Problem::fullSteeringMethod)
       // .PYHPP_DEFINE_GETTER_SETTER_CONST_REF(Problem, pathValidation,
       // PathValidationPtr_t) .PYHPP_DEFINE_METHOD(Problem,
       // manipulationSteeringMethod) .PYHPP_DEFINE_METHOD(Problem,
diff --git a/src/pyhpp/manipulation/problem.hh b/src/pyhpp/manipulation/problem.hh
index e04c165..8dfb590 100644
--- a/src/pyhpp/manipulation/problem.hh
+++ b/src/pyhpp/manipulation/problem.hh
@@ -61,6 +61,8 @@ struct Problem : public pyhpp::core::Problem {
       const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
   pyhpp::core::PyWSteeringMethodPtr_t steeringMethod() const;
   void graphSteeringMethod(const PyWGraphSteeringMethodPtr_t& steeringMethod);
+  void fullSteeringMethod(
+      const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
   // PathValidationPtr_t pathValidation() const;
   // void pathValidation (const PathValidationPtr_t &pathValidation);
   // SteeringMethodPtr_t manipulationSteeringMethod() const;
diff --git a/tests/integration/construction-set-m-rrt.py b/tests/integration/construction-set-m-rrt.py
index c2f55b6..c6840d0 100644
--- a/tests/integration/construction-set-m-rrt.py
+++ b/tests/integration/construction-set-m-rrt.py
@@ -406,10 +406,10 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:
     nodes.append(StateName(grasps))
     rules.append(makeRule(grasps=grasps))
 
-    problem.steeringMethod = Straight(problem)
-    problem.pathValidation = Progressive(robot, 0.02)
-    problem.pathProjector = ProgressiveProjector(
-        problem.distance(), problem.steeringMethod, 0.05
+    problem.steeringMethod(Straight(problem))
+    problem.pathValidation(Progressive(robot, 0.02))
+    problem.pathProjector(
+        ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
     )
 
     factory = ConstraintGraphFactory(cg, constraints)
@@ -429,8 +429,8 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:
 
     cg.initialize()
 
-    problem.pathProjector = ProgressiveProjector(
-        problem.distance(), problem.steeringMethod, 0.05
+    problem.pathProjector(
+        ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
     )
 
     nodes.append(nodes[-1])
@@ -445,10 +445,10 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:
 
     rules.append(Rule(grippers=grippers, handles=[".*"] * len(grippers), link=True))
 
-    problem.steeringMethod = Straight(problem)
-    problem.pathValidation = Progressive(robot, 0.02)
-    problem.pathProjector = ProgressiveProjector(
-        problem.distance(), problem.steeringMethod, 0.05
+    problem.steeringMethod(Straight(problem))
+    problem.pathValidation(Progressive(robot, 0.02))
+    problem.pathProjector(
+        ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
     )
 
     factory = ConstraintGraphFactory(cg, constraints)
@@ -468,8 +468,8 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:
 
     cg.initialize()
 
-    problem.pathProjector = ProgressiveProjector(
-        problem.distance(), problem.steeringMethod, 0.05
+    problem.pathProjector(
+        ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
     )
 
 assert nCylinder == 2 and nSphere == 2
diff --git a/tests/integration/pr2-in-iai-kitchen.py b/tests/integration/pr2-in-iai-kitchen.py
index 9897b49..5eaff63 100644
--- a/tests/integration/pr2-in-iai-kitchen.py
+++ b/tests/integration/pr2-in-iai-kitchen.py
@@ -45,8 +45,8 @@
 q_goal[rank] = -0.5
 
 problem = Problem(robot)
-problem.pathValidation = Dichotomy(robot, 0.0)
-problem.steeringMethod = Straight(problem)
+problem.pathValidation(Dichotomy(robot, 0.0))
+problem.steeringMethod(Straight(problem))
 
 problem.initConfig(q_init)
 problem.addGoalConfig(q_goal)
diff --git a/tests/integration/romeo-placard.py b/tests/integration/romeo-placard.py
index cc481f7..1f9513d 100644
--- a/tests/integration/romeo-placard.py
+++ b/tests/integration/romeo-placard.py
@@ -253,10 +253,10 @@
 if not res:
     raise RuntimeError("Failed to project goal configuration.")
 
-problem.steeringMethod = Straight(problem)
-problem.pathValidation = Dichotomy(robot, 0)
-problem.pathProjector = ProgressiveProjector(
-    problem.distance(), problem.steeringMethod, 0.05
+problem.steeringMethod(Straight(problem))
+problem.pathValidation(Dichotomy(robot, 0))
+problem.pathProjector(
+    ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
 )
 
 problem.initConfig(q_init_proj)
diff --git a/tests/integration/ur3-spheres-spf.py b/tests/integration/ur3-spheres-spf.py
index 1df2220..9efb178 100644
--- a/tests/integration/ur3-spheres-spf.py
+++ b/tests/integration/ur3-spheres-spf.py
@@ -279,12 +279,12 @@
         e, [constraints["place_sphere{}/complement".format(i)]]
     )
 
-problem.steeringMethod = Straight(problem)
-problem.pathValidation = Dichotomy(robot, 0)
+problem.steeringMethod(Straight(problem))
+problem.pathValidation(Dichotomy(robot, 0))
 
 # need to set path projector due to implicit constraints added above
-problem.pathProjector = ProgressiveProjector(
-    problem.distance(), problem.steeringMethod, 0.01
+problem.pathProjector(
+    ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.01)
 )
 
 cg.initialize()
diff --git a/tests/integration/ur3-spheres.py b/tests/integration/ur3-spheres.py
index 9efa9ec..0b7c3bd 100644
--- a/tests/integration/ur3-spheres.py
+++ b/tests/integration/ur3-spheres.py
@@ -258,10 +258,10 @@
         e, [constraints["place_sphere{}/complement".format(i)]]
     )
 
-problem.steeringMethod = Straight(problem)
-problem.pathValidation = Dichotomy(robot, 0)
-problem.pathProjector = ProgressiveProjector(
-    problem.distance(), problem.steeringMethod, 0.01
+problem.steeringMethod(Straight(problem))
+problem.pathValidation(Dichotomy(robot, 0))
+problem.pathProjector(
+    ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.01)
 )
 
 cg.initialize()