From 93251f07d921d0505a98993fce124ffccb022a7e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 7 Apr 2025 03:53:42 -0700
Subject: [PATCH] Install timers by default in Python bindings

PiperOrigin-RevId: 744663306
Change-Id: Ia322ace94d1f269ff9b0275567b2e453acc94843
---
 python/mujoco/bindings_test.py | 14 ++++++++++++++
 python/mujoco/structs.cc       | 19 +++++++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index fb2ed004..3896b8ce 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -1083,6 +1083,20 @@ Euler integrator, semi-implicit in velocity.
     ):
       mujoco.mj_forward(self.model, self.data)
 
+  def test_timer_installed_by_default(self):
+    timer_step = mujoco.mjtTimer.mjTIMER_STEP
+    self.assertEqual(self.data.timer[timer_step].number, 0)
+    self.assertEqual(self.data.timer[timer_step].duration, 0.0)
+
+    mujoco.mj_step(self.model, self.data)
+    self.assertEqual(self.data.timer[timer_step].number, 1)
+    duration_1 = self.data.timer[timer_step].duration
+    self.assertGreater(duration_1, 0.0)
+
+    mujoco.mj_step(self.model, self.data, 5)
+    self.assertEqual(self.data.timer[timer_step].number, 6)
+    self.assertGreater(self.data.timer[timer_step].duration, duration_1)
+
   def test_mjcb_time(self):
 
     class CallCounter:
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 6925b980..77200386 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -18,6 +18,7 @@
 
 #include <algorithm>
 #include <array>
+#include <chrono>  // NOLINT(build/c++11)
 #include <cctype>
 #include <cstddef>
 #include <cstdint>
@@ -553,6 +554,16 @@ MjDataWrapper* MjDataWrapper::FromRawPointer(raw::MjData* m) noexcept {
   }
 }
 
+namespace {
+// default timer callback (seconds)
+mjtNum GetTime() {
+  using Clock = std::chrono::steady_clock;
+  using Seconds = std::chrono::duration<mjtNum>;
+  static const Clock::time_point tm_start = Clock::now();
+  return Seconds(Clock::now() - tm_start).count();
+}
+}  // namespace
+
 MjDataWrapper::MjWrapper(MjModelWrapper* model)
     : WrapperBase(InterceptMjErrors(mj_makeData)(model->get()),
                   &MjDataCapsuleDestructor),
@@ -582,6 +593,14 @@ MjDataWrapper::MjWrapper(MjModelWrapper* model)
     throw UnexpectedError(
         "MjDataRawPointerMap already contains this raw mjData*");
   }
+
+  // install default timer if not already installed
+  {
+    py::gil_scoped_acquire gil;
+    if (!mjcb_time) {
+      mjcb_time = GetTime;
+    }
+  }
 }
 
 MjDataWrapper::MjWrapper(const MjDataWrapper& other)