Fix missing timer end calls on early returns in collision and actuation

PiperOrigin-RevId: 953348565
Change-Id: I64b563e29b2d620df46d50d12dde9215885f41d6

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;
   }
 

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;
   }