Fix type errors in compiler and tests.

In preparation for a float32 build of MuJoCo.

PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e

src/user/user_composite.h

@@ -107,7 +107,7 @@ class mjCComposite {
   std::string initial;            // root boundary type
   std::vector<float> uservert;    // user-specified vertex positions
   std::string userface;           // connectivity
-  mjtNum size[3];                 // rope size (meaning depends on the shape)
+  double size[3];                 // rope size (meaning depends on the shape)
   mjtCompShape curve[3];          // geometric shape
 
   // body names used in the skin
@@ -137,7 +137,7 @@ class mjCComposite {
 
  private:
   mjsBody* AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1);
-  mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
+  mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]);
 
   // temporary skin vectors
   void CopyIntoSkin(mjsSkin* skin);