From 2de430a61f4bb2ebd9c12d90e983cc35925fbea4 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Thu, 24 Oct 2024 15:34:07 -0700
Subject: [PATCH] Use newton by default in benchmark.

PiperOrigin-RevId: 689538944
Change-Id: I99b5588ae5980eee43fb33ac390122ce38000dd3
---
 mjx/mujoco/mjx/_src/test_util.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index 349cab16..a5a3af01 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -53,7 +53,7 @@ def benchmark(
     nstep: int = 1000,
     batch_size: int = 1024,
     unroll_steps: int = 1,
-    solver: str = 'cg',
+    solver: str = 'newton',
     iterations: int = 1,
     ls_iterations: int = 4,
 ) -> Tuple[float, float, int]: