Skip AD integration test for ergoCub reduced model

[flferretti]

This PR allows to skip the AD integration test for ergoCub until google-deepmind/optax#1190 gets included in a release

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📚 Documentation preview 📚: https://jaxsim--379.org.readthedocs.build//379/

[younik]

Good, as they are failing, but I don't think this is due to: google-deepmind/optax#1190
That was causing NaNs, which I had already solved in #367

It looks like the current issue is due to numeric precision(?)

[flferretti]

Good, as they are failing, but I don't think this is due to: google-deepmind/optax#1190 That was causing NaNs, which I had already solved in #367

It looks like the current issue is due to numeric precision(?)

For some reason, your PR also solved that problem. See the following output on Windows:

================================================= test session starts =================================================
platform win32 -- Python 3.13.0, pytest-8.3.4, pluggy-1.5.0 -- C:\Users\fferretti\AppData\Local\miniforge3\envs\jaxsim\python.exe
cachedir: .pytest_cache
benchmark: 5.1.0 (defaults: timer=time.perf_counter disable_gc=False min_rounds=5 min_time=0.000005 max_time=1.0 calibration_precision=10 warmup=False warmup_iterations=100000)
rootdir: C:\Users\fferretti\jaxsim
configfile: pyproject.toml
plugins: benchmark-5.1.0, typeguard-4.4.2
collected 3 items

tests/test_automatic_differentiation.py::test_ad_integration[box] PASSED                                         [ 33%]
tests/test_automatic_differentiation.py::test_ad_integration[ur10] PASSED                                        [ 66%]
tests/test_automatic_differentiation.py::test_ad_integration[ergocub_reduced] PASSED                             [100%]

With JAX v0.5.1:

(jaxsim) PS C:\Users\fferretti\jaxsim> conda list | FINDSTR jax
# packages in environment at C:\Users\fferretti\AppData\Local\miniforge3\envs\jaxsim:
jax                       0.5.1                    pypi_0    pypi
jax-dataclasses           1.6.1                    pypi_0    pypi
jaxlib                    0.5.1                    pypi_0    pypi
jaxlie                    1.4.2                    pypi_0    pypi
jaxsim                    0.6.2.dev149             pypi_0    pypi

and optax from GitHub:

(jaxsim) PS C:\Users\fferretti\jaxsim> conda list | FINDSTR optax
optax                     0.2.5.dev0               pypi_0    pypi

[younik]

Oh okay, it's good to me then