diff --git a/warp/sim/integrator_xpbd.py b/warp/sim/integrator_xpbd.py
index ef585c29..d8d1d854 100644
--- a/warp/sim/integrator_xpbd.py
+++ b/warp/sim/integrator_xpbd.py
@@ -2808,12 +2808,8 @@ def simulate(self, model: Model, state_in: State, state_out: State, dt: float, c
 
         with wp.ScopedTimer("simulate", False):
             if model.particle_count:
-                if requires_grad:
-                    particle_q = state_out.particle_q
-                    particle_qd = state_out.particle_qd
-                else:
-                    particle_q = state_out.particle_q
-                    particle_qd = state_out.particle_qd
+                particle_q = state_out.particle_q
+                particle_qd = state_out.particle_qd
 
                 self.particle_q_init = wp.clone(state_in.particle_q)
                 if self.enable_restitution: