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add option to specify solver in convex_set #21253

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@AlexandreAmice AlexandreAmice commented Apr 3, 2024

This change is Reviewable

@EricCousineau-TRI
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Howdy @AlexandreAmice, did you intend to assign someone? Perhaps @hongkai-dai or @sadraddini ?

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+(status: do not review)

Reviewable status: needs platform reviewer assigned, needs at least two assigned reviewers, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits), missing label for release notes (waiting on @AlexandreAmice)

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