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[multibody] Throw if CalcSpatialInertia frame is not in the plant - #24934

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castor639 wants to merge 2 commits into
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castor639:calc-spatial-inertia-frame-check
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[multibody] Throw if CalcSpatialInertia frame is not in the plant#24934
castor639 wants to merge 2 commits into
RobotLocomotion:masterfrom
castor639:calc-spatial-inertia-frame-check