diff --git a/simulate/main.cc b/simulate/main.cc
index d52e4c9d..209be7e8 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -380,6 +380,9 @@ void PhysicsLoop(mj::Simulate& sim) {
             syncSim = d->time;
             sim.speed_changed = false;
 
+            // inject noise
+            sim.InjectNoise();
+
             // run single step, let next iteration deal with timing
             mj_step(m, d);
             const char* message = Diverged(m->opt.disableflags, d);