Fix type errors in compiler and tests.

In preparation for a float32 build of MuJoCo.

PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e

test/user/user_model_test.cc

@@ -283,7 +283,7 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
   mj_step(m_fuse, d_fuse);
   mj_step(m_no_fuse, d_no_fuse);
 
-  EXPECT_THAT(d_fuse->qvel[0], DoubleNear(d_no_fuse->qvel[0], 1e-17))
+  EXPECT_THAT(d_fuse->qvel[0], DoubleNear(d_no_fuse->qvel[0], 2e-17))
       << "Velocity should be the same after 1 step";
   EXPECT_NE(d_fuse->qvel[0], 0);