regimented jumping over set jumps (ie like the agility jumps) is to be minimal until their growth plates have closed (generally around a year old)
Until their growth plates have closed, keep the jumps to the height of their 'wrist' joint (the one right above the foot, and below the 'knee'. So for a toy poodle puppy it'd probably be only an inch or something!!) yes it is ridiculously short, but it won't jolt their joints and will still be fun to play with and teach her to jump and stuff.
Note that yes I KNOW she can jump a heck of a lot higher. Most puppies can jump as high as themselves, if not higher, without any real effort, but jumping about while wrestling and playing and being silly is entirely different to the pounding of jump jump jump of agility style jumps/obstacles and while jumping about when playing and so forth is fine, keep agility style jumps to the wrist joint for pups.