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Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint… #619

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Run time

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Job	Run time
unittest (windows-latest, 3.13)	1m 16s
unittest (ubuntu-22.04, 3.10)	37s
unittest (macos-latest, 3.11)	1m 5s
unittest (ubuntu-22.04, 3.13)	34s
unittest (macos-latest, 3.13)	48s
unittest (ubuntu-22.04, 3.11)	31s
unittest (ubuntu-22.04, 3.12)	42s
unittest (macos-latest, 3.12)	53s
unittest (macos-latest, 3.10)	1m 20s
unittest (windows-latest, 3.10)	2m 3s
all-unittests-passed	2s
codecov	44s
sphinx / sphinx	9m 7s
	19m 42s