diff --git a/src_rbd/pipeline/insertion_removal.rs b/src_rbd/pipeline/insertion_removal.rs
index b5e1332..a68d4bb 100644
--- a/src_rbd/pipeline/insertion_removal.rs
+++ b/src_rbd/pipeline/insertion_removal.rs
@@ -104,6 +104,7 @@ impl RbdState {
                 [0.0, -9.81, 0.0],
                 capacity_per_batch,
             );
+            mb.set_num_solver_iterations(all_sim_params[0].num_solver_iterations);
             mb.set_constraint_softness(backend, &all_sim_params[0]);
             mb
         };
diff --git a/src_rbd/pipeline/rbd_state_from_rapier.rs b/src_rbd/pipeline/rbd_state_from_rapier.rs
index 92bdd1e..621b802 100644
--- a/src_rbd/pipeline/rbd_state_from_rapier.rs
+++ b/src_rbd/pipeline/rbd_state_from_rapier.rs
@@ -437,6 +437,8 @@ impl RbdState {
                 [0.0, -9.81, 0.0],
                 max_colliders as u32,
             );
+            // Must be set before `set_visible_dt` derives the substep dt.
+            mb.set_num_solver_iterations(num_solver_iterations);
             mb.set_visible_dt(backend, multibody_dt);
             // Soft contact coefficients (rapier TGS-soft) from the substep sim
             // params, so multibody-vs-floor contacts use the same soft ERP + CFM