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Adds Spectrahedron isa ConvexSet#19316

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RussTedrake merged 1 commit intoRobotLocomotion:masterRobotLocomotion/drake:masterfrom RussTedrake:spectrahedronRussTedrake/drake:spectrahedronCopy head branch name to clipboardMay 3, 2023

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Commits on May 3, 2023

• Adds Spectrahedron isa ConvexSet

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