diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui b/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
index 97175ec47b22af6810e4aece979f002cc7853f4b..041df06b681d220a75036907014c45e5c6e7d5c5 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
@@ -182,6 +182,16 @@
             </property>
            </widget>
           </item>
+          <item row="8" column="0">
+           <widget class="QCheckBox" name="checkBoxPropagateJointValues">
+            <property name="toolTip">
+             <string>This might lead to infinite loops</string>
+            </property>
+            <property name="text">
+             <string>Propagate joints</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </widget>
        </item>
@@ -247,7 +257,7 @@
      <x>0</x>
      <y>0</y>
      <width>1079</width>
-     <height>22</height>
+     <height>20</height>
     </rect>
    </property>
   </widget>
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index a158a3fbdcac3d3d99b21c04d617b125d981e3ab..25f431f60f0bceaea4e27ce774c587eb35bffb9a 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -378,6 +378,9 @@ void GraspPlannerWindow::plan()
         planner.reset(new GraspStudio::GenericGraspPlanner(grasps, qualityMeasure, approach, quality, forceClosure));
     }
 
+    robot->setPropagatingJointValuesEnabled(UI.checkBoxPropagateJointValues->isChecked());
+    eefCloned->setPropagatingJointValuesEnabled(UI.checkBoxPropagateJointValues->isChecked());
+
     int nr = planner->plan(nrGrasps, timeout);
     VR_INFO << " Grasp planned:" << nr << endl;
     int start = static_cast<int>(grasps->getSize()) - nrGrasps - 1;