Unit tests

Fix `nan` in reverse mode gradient caused by `rotation_matrix` #1363

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Run time

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Job	Run time
unit_tests (1, 3.9)	1m 33s
unit_tests (2, 3.10)	46s
unit_tests (3, 3.11)	29s
unit_tests (4, 3.12)	33s
unit_tests (5, 3.12)	1s
unit_tests (6, 3.12)	1s
unit_tests (7, 3.12)	1s
unit_tests (8, 3.12)	1s
	3m 25s