diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 178b4b20..3345a2e7 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -606,6 +606,7 @@ void mj_collision(const mjModel* m, mjData* d) {
 
   // return if disabled
   if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) || nbodyflex < 2) {
+    TM_END1(mjTIMER_POS_COLLISION);
     return;
   }
 
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index c7c78af2..3b04f93d 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -333,6 +333,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
   // disabled or no actuation: return
   if (nactuator == 0 || mjDISABLED(mjDSBL_ACTUATION)) {
     mju_zero(d->qfrc_actuator, nv);
+    TM_END(mjTIMER_ACTUATION);
     return;
   }