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fix: Twist2.ad raised ValueError for every twist; add Twist2.Ad and SE2.Ad #671

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Run time

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Job	Run time
unittest (ubuntu-22.04, 3.10)	38s
unittest (macos-latest, 3.12)	1m 5s
unittest (ubuntu-22.04, 3.12)	49s
unittest (ubuntu-22.04, 3.11)	31s
unittest (windows-latest, 3.10)	1m 16s
unittest (macos-latest, 3.11)	1m 2s
unittest (windows-latest, 3.13)	1m 24s
unittest (macos-latest, 3.13)	56s
unittest (ubuntu-22.04, 3.13)	53s
unittest (macos-latest, 3.10)	58s
all-unittests-passed	3s
codecov	55s
sphinx	-1s
	10m 29s