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Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint (Ad^-T) #562

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Run time

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Job	Run time
unittest (ubuntu-22.04, 3.13)	39s
unittest (ubuntu-22.04, 3.10)	33s
unittest (macos-latest, 3.13)	47s
unittest (windows-latest, 3.13)	1m 16s
unittest (windows-latest, 3.10)	1m 25s
unittest (ubuntu-22.04, 3.12)	42s
unittest (ubuntu-22.04, 3.11)	44s
unittest (macos-latest, 3.11)	1m 4s
unittest (macos-latest, 3.10)	1m 12s
unittest (macos-latest, 3.12)	41s
all-unittests-passed	2s
codecov	58s
sphinx / sphinx	0s
	10m 3s