diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
index 34afabd9ae..6c658a3a80 100644
--- a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
@@ -89,7 +89,8 @@ bool ConstrainedGoalSampler::stateValidityCallback(ob::State* new_goal, const mo
   moveit::core::RobotState solution_state(*state);
   solution_state.setJointGroupPositions(jmg, jpos);
   solution_state.update();
-  return checkStateValidity(new_goal, solution_state, verbose);
+  return checkStateValidity(new_goal, solution_state, verbose) &&
+         kinematic_constraint_set_->decide(solution_state, verbose).satisfied;
 }
 
 bool ConstrainedGoalSampler::sampleUsingConstraintSampler(const ob::GoalLazySamples* gls, ob::State* new_goal)